Automatic collision preventing control method of USV

The invention relates to the technical field of maritime searches and rescue and surveys, in particular to an automatic collision preventing control method of a USV, and aims at providing the automatic collision preventing control method of the USV. By means of mutual cooperation among all subsystems of a whole collision preventing system, the unmanned surface vehicle (USV) can automatically search for obstacles and implement collision preventing strategies according to distribution of the obstacles when the USV executes tasks such as rescue and surveys. The method comprises the following steps that 1, environmental image information is collected; 2, the distance between the obstacles and the USV is measured; 3, a GPS measures relative position information of the USV with other USVs, and a tachometer measures the movement velocity of the USV and other USVs; 4, an obstacle judgment system processes received information; 5, the sea clutter situation is transmitted to a genetic algorithm controller; 6, the genet