CN108507575A - A kind of unmanned boat sea paths planning method and system based on RRT algorithms - Google Patents
A kind of unmanned boat sea paths planning method and system based on RRT algorithms Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The invention discloses a kind of unmanned boat sea paths planning methods and system based on RRT algorithms, including obtain chart data, obtain sea chart Global Information；Sea condition is presented according to the definition of sea chart polygon, and original vector data is subjected to rasterizing and obtains complete sea chart interface；User be arranged on sea chart interface by way of transit point, path planning is carried out in preset time threshold using improved RRT algorithms, obtains final active path asymptotic optimization；Convert final active path to the latitude and longitude information of practical application, the latitude and longitude information of the turning point on outgoing route is supplied to the power control system of unmanned boat to use.This method is further improved RRT algorithms, realizes the path planning Jing Guo multiple default transit points, and application path compression algorithm, effectively shortens path distance.
Description
Technical field
The present invention relates to unmanned boats to navigate by water planning technology field automatically, and in particular to a kind of unmanned boat based on RRT algorithms
Sea paths planning method and system.
Background technology
With the fast development of science and technology, modern unmanned boat sea navigation field is exploited constantly, nobody
For ship in terms of autonomous navigation, there is unpredictable significant role in the fields such as especially sea is gone on patrol, cargo is sent with charge free.Current artificial intelligence
The rise of energy pushes unmanned technology fast-developing, and more and more path planning algorithms are proposed in succession.However it is based on
The unmanned boat paths planning method of sea information is mainly or using traditional path planning algorithm, such as：Artificial Potential Field Method,
Dijkstra searching algorithms, genetic algorithm etc..These algorithms have the following disadvantages：It can not solve that barrier is more, situation is complicated
Sea environment；The time of genetic algorithm planning is long, and real-time is poor.Relative to these algorithms, on mobile robot road
Diameter planning field develops swift and violent RRT algorithms and has many advantages, and can preferably apply in unmanned boat field, it is automatic to solve unmanned boat
The path planning problem of navigation：1) distribution of the point of RRT trees has used stochastical sampling distribution, to make ship Zhi Hanghang in the process can
To be consistent sexual behaviour.2) RRT algorithms input condition do not have it is vicious under normal circumstances, possess great probabilistic programming and go out
One can navigation path.3) RRT algorithms have higher compatibility for different path planning systems.4) RRT can be set often
The constraint of one step navigation can plan path in conjunction with the dynamic condition of unmanned boat.Meanwhile for the sea of unmanned boat
The path planning in face, a paths may need to reach the point of multiple settings, and therefore, further planning one can be by way of multiple
The algorithm of set point has practical significance, but at present applied to the algorithm of sea path planning in the path for handling multiple target points
There is the case where apparent insufficient, only to consider a starting point and a terminal in planning.
Invention content
In order to overcome shortcoming and deficiency of the existing technology, the present invention to provide a kind of unmanned boat sea based on RRT algorithms
Face paths planning method and system.
The present invention adopts the following technical scheme that：
A kind of unmanned boat sea paths planning method based on RRT algorithms, includes the following steps：
The first step obtains chart data, obtains sea chart Global Information, the sea chart Global Information include chart scale and
Sea chart range, and SEAARE fields in sea chart and LADARE fields are extracted and preserved；
Sea condition is presented according to the definition of sea chart polygon in SEAARE fields and LADARE fields by second step, and will
Original vector data carries out rasterizing and obtains complete sea chart interface；
Third walk, user be arranged on sea chart interface by way of transit point, using improved RRT algorithms in the preset time
Path planning is carried out in threshold value, obtains final active path asymptotic optimization；
4th step converts final active path to the latitude and longitude information of practical application, the turning point on outgoing route
Latitude and longitude information, be supplied to the power control system of unmanned boat to use.
Third step, user be arranged on sea chart interface by way of multiple transit points, using improved RRT algorithms pre-
If time threshold in carry out path planning, obtain final active path asymptotic optimization, be as follows：
The each two in multiple transit points is set to initial position and final position, in each pair of initial position and terminal position
Growth RRT path trees are carried out between setting；
According to the Priority Probabilities of the random growth point algorithm of RRT algorithms setting and the deviation terminal of setting, on path tree
It is random to generate path point；
Collision detection algorithm is called for each path point generated at random, judges path point whether on effective sea
In region, and if so, being active path point；
On each RRT tree, stop as long as active path point expands to final position, all RRT trees growths are completed
When, algorithm stops；
Path compression algorithm is carried out to each RRT tree, it is progressive most to obtain final active path for further compressed path
It is excellent.
Chart data uses the sea chart of S57 formats, SEAARE the and LADARE fields of sea chart have been extracted using the libraries GDAL,
The two fields store the vector data information of Sea surface boundary and land boundary respectively, by analyze the points of the two fields, line,
Face data association planning, drafting pattern.
The second step, rasterizing obtain complete sea chart interface, are to indicate water area with 0,1 indicate land area and
Barrier region.
Compression algorithm is first collision detection to be carried out from the starting point terminal on the path ultimately generated, if cannot pass through
Terminal is then stored in the final compressed path of output, then carries out collision inspection to the former point of starting point and terminal by collision detection
It surveys, if by collision detection, all redundant points between the two points are all removed, final only to retain key point, thus
Fall a large amount of redundant points, to compressed path.
A kind of unmanned boat sea path planning system based on RRT algorithms, including：
Sea chart parsing module：Chart data is obtained, obtains sea chart Global Information, the sea chart Global Information includes sea chart ratio
Example ruler and sea chart range, and SEAARE fields in sea chart and LADARE fields are extracted and preserved, according to sea chart polygon
Definition sea condition is presented, and original vector data is subjected to rasterizing and obtains complete sea chart interface；
Sea display module：It shows the route after the sea chart interface after parsing, user setting transit point, path planning and incites somebody to action
Point is shown using latitude and longitude coordinates each of on sea；
Routing information planning module：RRT algorithms are called, path planning is carried out in preset time threshold, are obtained final
Active path；
Routing information output module：Final active path is exported, and the turning point latitude and longitude information on path is real-time
It is shown on the display module of sea, is saved in the dynamical system for being transferred to unmanned boat in database by wireless network or serial ports
In.
Beneficial effects of the present invention：
1, by using apply the RRT algorithms being had many advantages in robot path planning field carry out path planning,
With ripe theory and rational Mathematics Proof.Probabilistic method based on sampling can represent the company of free space well
The general character.
2, efficient real time implementation：RRT algorithms generate the leafy node of path tree by stochastical sampling, realize that process is simple, phase
The seas such as genetic algorithm path planning algorithm is had higher efficiency, in the case of there are a large amount of barriers on sea
Planning path can be quickly generated in real time.
3, meet dynamic effect：For the such machine for controlling directional velocity by engine of unmanned boat, navigation path
Certain dynamic constraint condition is had, and RRT algorithms can (each random point illustrates ship in each random growth point
Navigation direction and speed) generation when add corresponding constraints, this is that other algorithms are difficult to realize, also, RRT algorithms
High efficiency can also be kept simultaneously.
4, it realizes simple：Since the thinking of RRT algorithms is simple and effective, realization is also relatively simple, possesses multiple parameters
It is adjusted for user.When for different systems with requiring, this method can be met not by changing corresponding parameter
The requirement of same environment and system.
5, path asymptotic optimality：In the random algorithm of path planning, random algorithm is by generating a large amount of random point
Path is constituted, so can all there be inconsistent place in the path generated every time, in the method, uses path compression algorithm
A large amount of Null Spot is compressed, to keeping the distance in path shorter.To realize quickly generating for path, and it is asymptotic most
It is excellent.
Description of the drawings
Fig. 1 is the flow chart of RRT algorithms of the present invention；
Fig. 2 is the S57 sea chart analytic method flow charts of the present invention；
Fig. 3 is the system operational flow diagram of the present invention.
Specific implementation mode
With reference to embodiment and attached drawing, the present invention is described in further detail, but embodiments of the present invention are not
It is limited to this.
Embodiment
As shown in Figure 1-Figure 3, a kind of unmanned boat sea paths planning method based on RRT algorithms, includes the following steps：
The first step, obtains sea chart initial data, and the present embodiment parses S57 sea charts using the libraries GDAL.S57 standards are sealed
Dress format is 8211 international standards of ISO/IEC, and 8211 standards of ISO/IEC are with logic record (logical record) for base
Our unit forms.First record of ISO8211 is called data description record (data descriptive record, DDR), after
Continuous all logic records (logical record, LR) are known as " data record " (data record, DR), including file institute
The real data to be exchanged.The overall information of file defined in DDR, including filename, field name, field type, field lattice
Formula and length, the relationship of interfield, and subfield name.GDAL is the library of increasing income that a C++ writes, can will be special in S57 files
The information for determining figure layer extracts, and all elements of S57 files belong to corresponding figure layer according to object mark type (OBJL), corresponding
Figure layer under have element (feature), have field (field) and geometric object (geometry), the geometry of element below element
Shape can be obtained from geometry field, and component attributes can be to obtain in dependence field.GDAL provides GetLayer
() method can extract the information of specific figure layer in S57 files, and S57 figure layers are by OBJNAM field definitions, this method master
Obtain the figure layer of the two field definitions of SEAARE and LADARE.The getNextFeature () for recycling GDAL to provide
Method extracts the specific factor in S57 files, and getFID () method obtains specified field, getGeometryName () method
The corresponding information of geometric object can be obtained with getGeometryType () method.These geological informations are exactly that we obtain
The original vector data of sea chart.
Second step：The data extracted in first step, also only original vector data, are not directly applicable RRT
In algorithm, need to be translated into raster data.The Display specification provided by S57 is parsed and is connected to data, according to
Point is linked to be line by certain agreement, and line connects into face.Finally draw out complete map interface.In the process, it needs to be arranged
Like example, the minimum longitude and latitude of map and maximum longitude and latitude are obtained, to be converted into certain model to the latitude and longitude coordinates on sea chart
Enclose interior coordinate.After conversion is completed, water area (can tradding limit) is indicated with 0,1 indicates land area and barrier area
Domain, the grid for obtaining sea chart indicate data.
Third walks：Path planning, path planning of the present invention are realized using RRT algorithms.In original RRT algorithms, RRT is calculated
Method makes planning just for the single situation of one terminal of an initial point.Original RRT algorithmic procedures are：It is supplied to RRT algorithms
Specific map datum, and the coordinate data of beginning and end is provided, RRT algorithms can grow whole path tree from the off,
When the random point that a certain step generates reaches in the ending range that we set, algorithm stops.Thus generate one it is complete
The path of whole slave origin-to-destination.
For our practical problem, unmanned boat is generally used for special appointed task, such as to the patrol of specified point, to specified
Point carries out goods handling, is typically passed through multiple preset points.By being improved to original RRT algorithms, realizing can set
The path planning algorithm of fixed transit point.This process that random point construction path tree is generated from initial point is repeatedly adjusted
With, it is only necessary to the data of the same sea chart are called in repetition, using same data structure, planning algorithm finally merge one by
It is required that the path tree Jing Guo multiple transit points.
RRT algorithms belong to random algorithm, there is a large amount of random redundant points in path tree growth course.In RRT algorithms
On the basis of increase path compression algorithm so that asymptotic optimization is tended in the path cooked up.Path compression process is, first from most
Throughout one's life at path on starting point terminal carry out collision detection, if terminal cannot be stored in defeated by collision detection
Go out in final compressed path, then collision detection is carried out to the former point of starting point and terminal, if by collision detection, this two
All redundant points between a point can be removed, final only to retain key point.A large amount of redundant points can thus be removed, from
And compressed path.
In the present embodiment, the step of specific RRT algorithms, is：
1) input initial position with final position, we are accomplished that the RRT algorithms of multiple transit points, by a pair by way of
Point is set as initial position and final position, while having more RRT trees growing.2) it is counted according to the random generation of system setting
The Priority Probabilities of method and the deviation terminal of setting, generate path point at random on path tree.3) each growing point is called
Collision detection algorithm judges that growing point whether in effective water area, can be set according to actual conditions here, than
Such as apart from the distance of barrier, the constraintss such as navigation direction of unmanned boat are rejected.It will be used as by the growing point of detection
Effective growing point.4) in each RRT tree, as long as the path point generated at random expands to the final position (end set
Only transit point) when stop, when all path trees all grow completion when, algorithm stop.5) path compression calculation is carried out to each RRT
Method gets rid of some unnecessary points on Propagating Tree, to compressed path, makes final active path asymptotic optimization.
4th step：After obtaining final path, the point on path also needs to, according to front transformation rule, coordinate is converted to
The position longitude and latitude output of practical sea chart.
A kind of unmanned boat sea path planning system, including：
Sea chart parsing module：Chart data is obtained, obtains sea chart Global Information, the sea chart Global Information includes sea chart ratio
Example ruler and sea chart range, and SEAARE fields in sea chart and LADARE fields are extracted and preserved, according to sea chart polygon
Definition sea condition is presented, and original vector data is subjected to rasterizing and obtains complete sea chart interface；
Sea display module：It shows the route after the sea chart interface after parsing, user setting transit point, path planning and incites somebody to action
Point is shown using latitude and longitude coordinates each of on sea；
Routing information planning module：RRT algorithms are called, path planning is carried out in preset time threshold, are obtained final
Active path；
Routing information output module：Final active path is exported, and the turning point latitude and longitude information on path is real-time
It is shown on the display module of sea, is saved in the dynamical system for being transferred to unmanned boat in database by wireless network or serial ports
In.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by the embodiment
Limitation, it is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications,
Equivalent substitute mode is should be, is included within the scope of the present invention.
Claims (6)
1. a kind of unmanned boat sea paths planning method based on RRT algorithms, which is characterized in that include the following steps：
The first step obtains chart data, obtains sea chart Global Information, the sea chart Global Information includes chart scale and sea chart
Range, and SEAARE fields in sea chart and LADARE fields are extracted and preserved；
Sea condition is presented according to the definition of sea chart polygon in SEAARE fields and LADARE fields by second step, and will be original
Vector data carry out rasterizing obtain complete sea chart interface；
Third walk, user be arranged on sea chart interface by way of transit point, using improved RRT algorithms in preset time threshold
Interior carry out path planning, obtains final active path asymptotic optimization；
4th step converts final active path on the latitude and longitude information of practical application, the warp of the turning point on outgoing route
Latitude information is supplied to the power control system of unmanned boat to use.
2. unmanned boat sea according to claim 1 paths planning method, which is characterized in that the third step, Yong Hu
On sea chart interface setting by way of multiple transit points, path rule are carried out in preset time threshold using improved RRT algorithms
It draws, obtains final active path asymptotic optimization, be as follows：
Set each two in multiple transit points to initial position and final position, each pair of initial position and final position it
Between carry out growth RRT path trees；
It is random on path tree according to the Priority Probabilities of the random growth point algorithm of RRT algorithms setting and the deviation terminal of setting
Generate path point；
Collision detection algorithm is called for each path point generated at random, judges path point whether in effective water area
It is interior, and if so, being active path point；
On each RRT tree, stop as long as active path point expands to final position, when all RRT trees growths are completed, calculates
Method stops；
Path compression algorithm is carried out to each RRT tree, further compressed path obtains final active path asymptotic optimization.
3. unmanned boat sea according to claim 2 paths planning method, which is characterized in that chart data uses S57 lattice
The sea chart of formula, SEAARE the and LADARE fields of sea chart have been extracted using the libraries GDAL, the two fields store sea side respectively
The vector data information on boundary and land boundary, by analyzing the point, line, surface data correlation planning of the two fields, drafting pattern.
4. unmanned boat sea according to claim 1 paths planning method, which is characterized in that the second step, rasterizing
Complete sea chart interface is obtained, is to indicate water area with 0,1 indicates land area and barrier region.
5. unmanned boat sea according to claim 2 paths planning method, which is characterized in that compression algorithm is, first from most
Throughout one's life at path on starting point terminal carry out collision detection, if terminal cannot be stored in defeated by collision detection
Go out in final compressed path, then collision detection is carried out to the former point of starting point and terminal, if by collision detection, this two
All redundant points between a point are all removed, final only to retain key point, thus fall a large amount of redundant points, to compress road
Diameter.
6. the system for realizing claim 1-5 any one of them unmanned boats sea paths planning method, which is characterized in that packet
It includes：
Sea chart parsing module：Chart data is obtained, obtains sea chart Global Information, the sea chart Global Information includes chart scale
And sea chart range, and SEAARE fields in sea chart and LADARE fields are extracted and preserved, according to determining for sea chart polygon
Sea condition is presented in justice, and original vector data is carried out rasterizing and obtains complete sea chart interface；
Sea display module：Sea chart interface, user setting transit point after display parsing, the route after path planning and by sea
On each of point shown using latitude and longitude coordinates；
Routing information planning module：RRT algorithms are called, path planning is carried out in preset time threshold, obtain final having
Imitate path；
Routing information output module：Export final active path, and by the turning point latitude and longitude information real-time display on path
On the display module of sea, it is saved in database and is transferred in the dynamical system of unmanned boat by wireless network or serial ports.
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| CN111290398B (en) * | 2020-03-13 | 2022-10-25 | 东南大学 | Unmanned ship path planning method based on biological heuristic neural network and reinforcement learning |
| CN111736595A (en) * | 2020-05-20 | 2020-10-02 | 武汉理工大学 | Control method, system and device for ship running track and storage medium |
| CN111736595B (en) * | 2020-05-20 | 2022-04-22 | 武汉理工大学 | Control method, system and device for ship running track and storage medium |
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