基于速度障碍原理的无人艇自动避碰算法  

Automatic collision avoidance algorithm for unmanned surface vessel based on velocity obstacles

作　　者：吴博[1] 熊勇[1] 文元桥[1] 

机构地区：[1]武汉理工大学航运学院/内河航运技术湖北省重点实验室,武汉430063

出　　处：《大连海事大学学报》2014年第2期13-16,共4页Journal of Dalian Maritime University

基　　金：中央高校基本科研业务费专项资金资助项目(2013-IV-043)

摘　　要：研究基于速度障碍法并考虑风浪流影响下的无人艇操纵运动特性的自主避碰算法.根据无人艇和避障物的对地速度计算其相对速度,分析判断二者的相对速度和相对位置之间的角度关系,得出避碰的可行路径范围,并通过改变无人艇的运动方向来完成对动态障碍物的避让.仿真结果表明:该方法有效克服了局部路径规划的局限性,并且更符合无人艇实际航行避碰操纵要求,能够使无人艇在具有多个动态障碍物的复杂环境中安全避让.Automatic collision avoidance algorithm based on velocity obstacles was presented , which considered unmanned surface vehicle （USV） maneuvering characteristics under the wind, wave and flow.The relative velocity was calculated by both USV and avoidance objects ’ ground speeds , and the an-gular relationship between their relative velocities and posi-tions was analyzed , thus, a feasible avoidance path range was drawn.The dynamic obstacle avoidance was completed by changing the direction of USV .Simulation results indicate that the proposed method effectively overcomes the limitations of local path planning , which meet the requirements of actual collision avoidance , and ensure USV security avoidance in complex environment with multiple dynamic obstacles .

关 键 词：无人艇 操纵运动特性 自动避碰 速度障碍法 

分 类 号：U674[交通运输工程—船舶及航道工程] TP24[交通运输工程—船舶与海洋工程]