Unmanned surface vehicle path planning method based on rapid scanning method

• Main Authors: SU YUMIN, ZHU CHENG, ZHUANG JIAYUAN, ZHANG LEI, ZHOU BIN, LUO JING, WANG BO, SUN YUSHAN, WANG JIANDONG, SONG SHENGQING, SHEN HAILONG, CAO JIAN
• Format: Patent
• Language: Chinese; English
• Published: 15.09.2020
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention discloses an unmanned surface vehicle path planning method based on a rapid scanning method, and relates to the technical field of unmanned surface vehicles, thereby solving a problem that when an existing unmanned surface vehicle path is planned, a traditional potential energy method is prone to generating a local minimum value. The method comprises the steps: step one, acquiring global map information, and constructing a static global environment potential field through a rapid scanning method; step two, acquiring a current unmanned surface vehicle state and surrounding obstacle information, and constructing a potential field taking a task end point as a source point through a rapid scanning method according to task requirements of the unmanned surface vehicle; step three,constructing a dynamic obstacle model through the rapid scanning method; step four, superposing the potential fields obtained in the step 2 and the step 3 to obtain a final planned potential field ofthe unmanned surface vehic