系统工程与电子技术 ›› 2020, Vol. 42 ›› Issue (9): 1988-1994.doi: 10.3969/j.issn.1001-506X.2020.09.14

• 系统工程 • 上一篇    下一篇

带拖线阵的水面无人艇局部路径规划算法

陈岱岱1,2(), 李玩幽1()   

  1. 1. 哈尔滨工程大学动力与能源工程学院, 黑龙江 哈尔滨 150001
    2. 中电科宁波海洋电子研究院有限公司, 浙江 宁波, 315040
  • 收稿日期:2019-12-27 出版日期:2020-08-26 发布日期:2020-08-26
  • 作者简介:陈岱岱 (1988-),男,讲师,博士,主要研究方向为船舶导航与控制技术。E-mail:ins_dai@hotmail.com|李玩幽 (1972-),男,教授,博士研究生导师,博士,主要研究方向为船舶与海洋工程。E-mail:liwanyou88@163.com
  • 基金资助:
    浙江省科技厅2020省重点研发计划(2020C03101)

Local path planning algorithm for USV with towed cable

Daidai CHEN1,2(), Wanyou LI1()   

  1. 1. College of Power and Energy Engineering, Harbin Engineering University, Harbin 150001, China
    2. China E-Tech Ningbo Maritime Electronics Research Institute Co., Ltd, Ningbo 315040, China
  • Received:2019-12-27 Online:2020-08-26 Published:2020-08-26

摘要:

针对带有拖线阵的水面无人艇(unmanned surface vessel, USV)局部路径规划问题,提出了一种基于虚拟斥力场的改进人工势场法。首先,对USV和拖线阵进行建模,分析带有拖线阵USV的避障和缆阵有效张力过大问题;然后,通过增加虚拟斥力场改进人工势场法,在USV艇体有效避障的基础上,增加拖线阵位置安全裕度;最后,兼顾缆体的强度安全,实现带有拖线阵的USV整体有效避障。仿真和海上试验结果表明,所设计的方法能够综合保障USV及其拖线阵的航行安全。

关键词: 水面无人艇, 局部路径规划, 避障算法, 人工势场法

Abstract:

Aiming at the problem of the local path planning for unmanned surface vessel (USV) with towed cable, a virtual repulsive field based modified artificial potential field approach is proposed. Firstly, the model of USV and its towed cable is established, then the problems of "USV+ towed cable" joint collision avoidance and effective tension exceeding threshold are analyzed. Secondly, the artificial potential field apprcach is modified by introducing a virtual repulsive field, and the safety margin of the towed cable is increased based on the effective obstacle avoidance for USV hull. Finally, the cable safety is guaranteed and the effective obstacle avoidance of the USV with towed cable is realized. The simulation and sea test result show that the designed approach could comprehensively guarantee the motion safety of USV and its towed cable.

Key words: unmanned surface vessel (USV), local path planning, collision avoidance algorithm, artificial potential field approach

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