Unmanned boat global path planning method

A technology of global path planning and path planning, applied in the directions of road network navigators, measuring devices, instruments, etc., can solve the problems of no comparison, inefficient planning time, and no planning efficiency, and achieve the effect of improving the search speed.

Active Publication Date: 2019-09-03
WUHAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Benefits of technology

This new technology helps improve searching for targets by combining both algorithms called GPT (Japanese Patented Translation) + Algorithm and GOAT (Guidance Boundary Alignment). By doing this it removes any unnecessary parts from searches that may be irrelevant or even harmful. Additionally, researchers have shown how these techniques work well when used on surfaces without guiding them towards specific directions.

Problems solved by technology

This patented describes two technical methods used during studying navigating ships: one involves finding paths through uncertain areas while another focuses more specifically on reducing fuel usage (the amount consumed) without compromising safety measures such as radar systems.

Method used

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  • Unmanned boat global path planning method
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  • Unmanned boat global path planning method

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Embodiment Construction

[0044] In order to better explain the present invention and facilitate understanding, the present invention will be described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0045] The present invention provides a kind of unmanned boat global path planning method combining JPS+ algorithm and GoalBounding algorithm, comprises the following steps:

[0046] Step 1): Establish a coordinate system with the upper left corner as the starting point, and divide the displayed electronic chart into grids of a selected size, such as figure 1 As shown in the figure on the left (the dots and black squares in the figure indicate obstacles), and select adjacent vertex coordinates such as (lat1, lng1) and (lat2, lng2), calculate the distance between two adjacent vertex coordinates by the following formula, Obtain the side length of each grid, which is convenient for subsequent judgment of the grid where the obstacle is located:

[0047]

[0048]

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Abstract

The invention relates to an unmanned boat global path planning method. The method comprises the following steps: 1) an electronic chart is converted to a grid map, if an obstacle exists on a point onthe electronic chart corresponding to a grid on the grid map, the grid is marked as 1, or otherwise, the grid is marked as 0; 2) grids marked as 1 are eliminated through a GoalBounding algorithm and asearch range is narrowed; 3) a starting point S and an ending point G are randomly set on the electronic chart, the latitude and longitude of the point S and the point G are acquired and are converted to coordinates on the grid map; 4) whether a path can be generated from the starting point S to the ending point G is judged, if yes, a fifth step is carried out, or otherwise, the third step is carried out; 5) path planning is performed within the narrowed boundary range through a JPS+ algorithm; and 6) all nodes found in the fifth step are connected to complete path planning. The operation speed of the invention is up to 60 times that of an A-star algorithm.

Description

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Claims

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Application Information

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Owner WUHAN UNIV OF TECH
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