无人艇编队避碰路径规划与重规划

doi:10.12305/j.issn.1001-506X.2025.06.24

Abstract

Abstract:

In view of the problem of collision avoidance path planning for unmanned surface vessel (USV) in obstacle maps, a static global path planning collision avoidance method based on improved ant colony algorithm and a local path re-planning scheme for unknown obstacles are proposed. The grid method is used to model the obstacle environment. By designing a composite heuristic function, proposing a dynamic pheromone giving mechanism, and introducing a chaotic optimization operator, the problems of traditional ant colony algorithms being prone to falling into local optima and having poor convergence are solved. Furthermore, based on the fish schooling effect, a local path re-planning scheme is proposed to solve the path re-planning problem of USV formations when encountering unknown obstacles. Simulation experiments on a distributed formation system consisting of five USVs are conducted to verify the effectiveness of the proposed method for collision avoidance in formation.

Key words: unmanned surface vessel (USV) formation, path planning, path re-planning, improved ant colony algorithm, chaos optimization

CLC Number:

TP202.7

Yijie LIU, Bin JIANG, Yajie MA, Wenbo LI, Chengrui LIU. Collision avoidance path planning and re-planning for USV formation[J]. Systems Engineering and Electronics, 2025, 47(6): 1964-1974.

Figures/Tables 14

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参数	地图维数
参数	20	40	60
迭代次数	100	300	500
蚂蚁数量/只	10	30	50
栅格长度/m	1 000	1 000	1 000

参数	无人艇编号/位置	数值
环境尺寸/m	—	(20 000, 20 000)
初始位置/m	虚拟领航艇	(500, 19 500)
	1号无人艇	(450, 19 530)
	2号无人艇	(400, 19 550)
	3号无人艇	(400, 19 450)
	4号无人艇	(400, 19 550)
	5号无人艇	(350, 19 450)
初始速度/kn	虚拟领航艇	(0, 1×463/900)
初始速度/kn	试验无人艇	(0, 0)
最大速度/kn	虚拟领航艇	12×463/900
最大速度/kn	试验无人艇	15×463/900
编队构型/m	(x₁₀, y₁₀)	(0, 0)
	(x₂₀, y₂₀)	(-50, 50)
	(x₃₀, y₃₀)	(-50, -50)
	(x₄₀, y₄₀)	(-100, 50)
	(x₅₀, y₅₀)	(-100, -50)
最大加速度/(m/s²)	—	0.5
γ	—	1

参数	数值
位置/m	(3 000, 17 000)
障碍物半径/m	150
安全距离R_s/m	20

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Collision avoidance path planning and re-planning for USV formation

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