Unmanned ship obstacle avoidance method and system based on multi-radar perception

The invention provides an unmanned ship obstacle avoidance method and system based on multi-radar perception, and the method comprises the steps: 1, dynamically obtaining a point cloud data packet obtained by sensing the surrounding environment in a water area through multiple radars disposed on an unmanned ship; 2, acquiring auxiliary construction information, and constructing a dynamic three-dimensional scene model based on the auxiliary construction information and the point cloud data packet; 3, planning an obstacle avoidance driving route based on the dynamic three-dimensional scene model; and step 4, based on the obstacle avoidance driving route, controlling the unmanned ship to perform obstacle avoidance driving. According to the unmanned ship obstacle avoidance method and system based on multi-radar perception, the dynamic three-dimensional scene model is constructed based on the point cloud data packets and the auxiliary construction information dynamically acquired by the radars, and the real-time p