水面无人艇避碰方法回顾与展望  

Review and Expectation on Collision Avoidance Method of Unmanned Surface Vessel

作　　者：吴博[1,2] 文元桥[1,2] 吴贝[3] 周思杨[4] 肖长诗[1,2] 

机构地区：[1]武汉理工大学航运学院,武汉430063 [2]内河航运技术湖北省重点实验室,武汉430063 [3]武汉海事局,武汉430000 [4]武汉第二船舶设计研究所,武汉430000

出　　处：《武汉理工大学学报（交通科学与工程版）》2016年第3期456-461,共6页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：国家自然科学基金项目资助(51579204)

摘　　要：水面无人艇因其具有体积小、速度快、较好的隐身性、较高的智能化等特点被世界各国广泛应用.随着其应用价值的不断提高,水面无人艇日益成为国内外研究的焦点.避碰技术作为水面无人艇的核心技术之一,是实现无人艇安全航行正常执行任务的重要前提.针对水面无人艇的避碰问题,从水面无人艇全局路径规划和局部避碰的角度,分别阐述了国内外主要研究成果,并且总结了水面无人艇避碰方法目前存在的一些问题,同时对未来的研究方向进行了展望.Because of small size,fast speed,good invisibility and high intelligence,the Unmanned Surface Vessel（USV）is widely used in the world.Along with the continuous improvement of its application value,the USV has increasingly become the focus of the domestic and foreign research.As one of the core technologies for the USV,collision avoidance technology is an important premise to ensure ship navigation safety and to perform normal tasks.In this paper,according to the collision avoidance problem of the USV,the main research achievements at home and abroad is expounded and some problems of USV collision avoidance methods are summarized from the view of USV global path planning and local collision avoidance.In addition,the future research directions are discussed.

关 键 词：水面无人艇 避碰方法 全局路径规划 局部避碰 

分 类 号：U675.5[交通运输工程—船舶及航道工程]