机器人技术应用A review on improving the autonomy of unmanned surface vehicles.pptx

利用智能避碰操作提高无人艇 自主性研究综述 A review on improving the autonomy of unmanned surface vehicles through intelligent collision avoidance manoeuvres 1 Introduction Unmanned surface vehicles (USVs) are water robots that can work intelligently and autonomously without human intervention. It can replace manned ships to complete complicated, complicated and dangerous tasks. The majority of USV research prototypes have been designed and developed for the purposes of collecting oceanographic data,i.e. bathymetry, pollution monitoring, etc. 1 Introduction The United States has listed unmanned boats as its key development targets and has drawn up a master plan for the development of unmanned boats in the United States Navy. Britain, France, Germany, Russia, Israel and other countries have also stepped up the development of unmanned boats. 1 Introduction Shanghai University has developed nine models of "Jinghai" series USVs and delivered them to the East China Sea Navigation Support Center of the Ministry of Transport, in cooperation with coast guard boat, the Xue Long and the Sea Supervision. 精海1号—南海巡航水下目标探测 精海4号—协同探测 精海5号—警戒巡逻火力打击 精海2号—南极科考 精海3号—东海、黄海、南海 精海8号—海岸带综合地质调查 精海7号—海底掩埋探测 精海9号—巡逻警戒 精海6号—海洋监测 1 Introduction 6 Rules of the road： 2 COLREGs 7 In maritime navigation, ships should obey the COLREGS, agreed to by the International Maritime Organization (IMO) in 1972 .These “rules of the road” specify the types of maneuvers that should be taken in situations where there is a risk of collision. 2 COLREGs 8 The work presented in this paper addresses the following three primary COLREGS situations: crossing, head-on, and overtaking . 2 COLREGs 9 Crossing from the right : in this situation, the vessel that has the other on its starboard (right) side must give way. Crossing from the left : in this case, the traffic boat is the give-way vessel, and USV should be allowed to maintain its course. 2 COLREGs 10 Overtaking