改进速度障碍法的无人艇局部路径规划

doi:10.12305/j.issn.1001-506X.2023.12.28

Abstract

Abstract:

In view of the problem of long collision avoidance paths, long collision avoidance time and regardless of the constraint of avoidance responsibility in close-quarters situation when using conventional velocity obstacle (VO) method for local path planning, this paper proposes an improved VO for unmanned surface vehicle (USV). The quaternion ship domain and collision threat distance are introduced into the calculation of the VO collision avoidance moment to determine the collision avoidance threshold. The latest rudder applying distance is taken as the threshold value for the transformation from dangerous situation to close-quarters situation, and the close-quarters situation model is constructed. An USV collision avoidance model is designed and constrained by International Regulations for Collision Avoidance at Sea (COLREGs). The collision avoidance simulation of head-on, right-crossing, left-crossing and overtaking are compared and analyzed. The simulation results show that the improved VO average path is decreased by 39.88% and the average time is cut by 44.26%. The improved local planning is able to meet the avoidance requirements of Article 8 and Articles 13~17 of the COLREGs under the condition of ensuring safe collision avoidance.

Key words: local path planning, velocity obstacle (VO) method, International Regulations for Collision Avoidance at Sea (COLREGs), unmanned surface vehicle (USV), close-quarters situation

CLC Number:

U675.73

Guixiang ZHAO, Chenxu WANG, Heping WANG, Yunmiao LI. Local path planning for unmanned surface vehicle using improved velocity obstacle method[J]. Systems Engineering and Electronics, 2023, 45(12): 3975-3983.

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References 30

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主要参数	参数
船名	Dolphin-I
船长/m	3.2
船宽/m	2.2
总重/kg	130.0
进距/m	16.5
旋回初径/m	25.5

场景	初始位置/m	航速/(m/s)	航向/(°)	会遇态势
1	(120, 1 150)	3	180	对遇
2	(635, 900)	3	240	右交叉
3	(-225, 850)	2	120	左交叉
4	(120, 400)	1	000	追越

场景	改进前		改进后
场景	避碰距离/m	避碰耗时/s	避碰距离/m	避碰耗时/s
1	192	65	162	55
2	177	60	102	35
3	237	80	57	20
4	297	100	222	60

场景	安全距离/m	实际避让距离/s
1	100.00	368.78
2	100.00	317.65
3	100.00	268.94
4	100.00	135.14

场景	安全距离	碰撞威胁距离	实际避让距离	紧迫局面距离
1	17.48	218.24	217.13	-
2	17.48	167.94	167.94	-
3	17.48	156.11	54.20	54.20
4	17.48	78.71	76.77	-

Local path planning for unmanned surface vehicle using improved velocity obstacle method

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