水面无人艇危险规避方法  

Obstacle avoidance method for USV

作　　者：庄佳园 张国成 苏玉民 张磊 孙寒冰 

机构地区：[1]哈尔滨工程大学水下智能机器人技术国防科技重点实验室,哈尔滨150001

出　　处：《东南大学学报（自然科学版）》2013年第A01期126-130,共5页Journal of Southeast University：Natural Science Edition

基　　金：哈尔滨工程大学中央高校基金资助项目(HEUCF1321006)

摘　　要：设计了一种符合国际海上航行规则的相对坐标系下动态规避方法,以处理水面无人艇的危险规避问题.根据国际海上航行规则将碰撞局面划分为追越、交叉相遇、正面相遇3种局面.计算相对坐标系下相对速度的改变量,并通过改变无人艇的航速和航向,完成对障碍物的危险规避.搭建了无人艇半实物仿真试验平台,以方便快捷地验证危险规避系统的可行性和可靠性.大量半实物仿真试验结果表明,基于所设计的无人艇危险规避方法可以有效地完成静止或运动障碍物的危险规避任务,规避航线合理,满足无人艇规避系统的要求.To solve the obstacle avoidance problem of unmanned surface vehicle（USV）,a dynamic obstacle avoidance method based on the relative coordinate w as designed,w hich complies the international regulations for preventing collisions at sea（COLREGS）.According to the COLREGS,the collision scenario w as divided into three different behaviors overtaking,crossing and head-on.The relative velocity in relative coordinate w as calculated,and the obstacle avoidance of USV w as completed by changing speed and course.The semi-physical simulation system w as built to verify the feasibility and reliability of the obstacle avoidance system conveniently and sw iftly.The semi-physical simulation results demonstrate that the obstacle avoidance method can efficiently complete the obstacles avoidance task for static and moving objects w ith an optimal path and meets the requirements of the obstacle avoidance system.

关 键 词：水面无人艇 海事规则 危险规避 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]