Autonomous cruise method of unmanned surface vessles cluster based on bacterial obstacle avoidance strategy

Abstract

A dynamic obstacle avoidance algorithm is proposed for the obstacle avoidance problem in the cruise task of unmanned boat cluster. Firstly, the square grid trajectory cell (SGTC) situation matrix of the waters around the unmanned surface vessle is obtained. Then, based on the principle of bacterial walking foraging, the optimal obstacle avoidance path is dynamically matched in the SGTC set. Finally, on the basis of dynamic obstacle avoidance, the autonomous cruise process of unmanned surface vessle is divided into stages of moving towards the target, dynamic obstacle avoidance, and return replenishment, so as to realize the normal cruise of unmanned surface vessle to the designated waters. The simulation results show that the proposed method has efficient avoidance ability for static point, surface obstacle and moving obstacle. Based on the algorithm, it can realize the normalized unmanned cruise of unmanned boat cluster. The algorithm is not only suitable for obstacle avoidance of unmanned surface vessle, but also has broad application prospects in other heterogeneous unmanned equipment.

Keywords

• unmanned surface vehicle|dynamic obstacle avoidance|bacteria walking|square grid trajectory cell|autonomous cruise