带拖线阵的水面无人艇局部路径规划算法

doi:10.3969/j.issn.1001-506X.2020.09.14

Abstract

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

CLC Number:

TP391

Daidai CHEN, Wanyou LI. Local path planning algorithm for USV with towed cable[J]. Systems Engineering and Electronics, 2020, 42(9): 1988-1994.

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节点至拖线阵首端距离/m	有效张力/kN	节点至拖线阵首端距离/m	有效张力/kN
0(拖缆首端)	0.345 5	-	-
0.1	0.345 5	5.0	0.189 9
0.2	0.336 6	10.0	0.120 2
0.3	0.320 4	15.0	0.057 9

直径/m	单位长度质量/(t/m)	弯曲刚度/(kN·m²)	轴向刚度/kN
0.08	0.005 2	0.02	100

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Local path planning algorithm for USV with towed cable

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