The invention relates to a virtual-real fusion unmanned surface ship collision avoidance test method. Two simulation test types are provided, one simulation test type is to simulate motion of an unmanned ship and the motion of an obstacle and can be used for land test verification of an unmanned ship collision avoidance algorithm, and the other simulation test type is to only simulate the motion of the obstacle and can be used for a lake virtual collision avoidance test after the unmanned ship is launched. By decoupling three links of obstacle sensing, the collision avoidance algorithm and motion execution, a test of a certain link can be independently carried out, and the three links can also be coupled together for comprehensive test so that an engineering development progress is accelerated, a coupling problem in a test process is extremely easy to distinguish, and robustness of the collision avoidance algorithm and the execution link is obtained; and a data format completely consistent with sensor output is adopted, a virtual obstacle simulation module can seamlessly replace a perception sensor, and after a virtual test is finished, the virtual obstacle simulation module only needs to be replaced with a real perception sensor so that real perception collision avoidance can be converted into.
本发明涉及一种虚实融合的无人水面艇避碰测试方法,提出了两种模拟测试类型,一种是既模拟无人艇的运动、又模拟障碍物的运动,可以用于无人艇避碰算法的陆上测试验证,第二种是只模拟障碍物的运动,可以用于无人艇下水后的湖上虚拟避碰测试;通过将障碍物感知、避碰算法、运动执行三个环节解耦,既可单独进行某个环节的测试,也可耦合在一起综合测试,从而加快了工程开发进度,并极易辨别出测试过程中的耦合性问题,获得避碰算法与执行环节的鲁棒性;另一方面,采用与传感器输出完全一致的数据格式,虚拟障碍物模拟模块可以无缝替代感知传感器,虚拟测试结束后只需要将虚拟障碍模块替换为真实的感知传感器,就可以转换为真实感知避碰。
Virtual-real fusion unmanned surface ship collision avoidance test method
一种虚实融合的无人水面艇避碰测试方法
2020-10-30
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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