Unmanned ship autonomous obstacle avoidance device and method

The invention belongs to the technical field of unmanned ship intelligent control, and discloses an unmanned ship autonomous obstacle avoidance method. Firstly, an obstacle avoidance system is initialized, a circle is drawn with an unmanned ship as the circle center and a visible radius R as the radius, an intersection line AB is located at two points P and P1, a point P close to a target B pointis a real-time target point, and the connecting line direction of the real-time position O of the unmanned ship and the real-time target point P is a real-time target course angle psi r; the real-timeheading psi of the unmanned ship can be obtained through the navigation module; detecting whether an azimuth angle alpha, a distance epsilon and a speed V of an obstacle exist or not; sending the data into an azimuth weight function, a distance weight function and a speed weight function to obtain a corresponding weight value, multiplying the weight value by the maximum angle change amount to obtain an obstacle avoidance