无人帆船短途路径规划研究  

Study of Local Route Planning of Autonomous Sailboat

作　　者：康梦萁 许劲松[1] 徐建云[1] 杜明树 

机构地区：[1]上海交通大学海洋工程国家重点实验室,上海200030

出　　处：《船舶工程》2016年第9期1-5,共5页Ship Engineering

基　　金：海洋工程国家重点实验室自由研究课题(GKZD010059)

摘　　要：针对无人帆船短途路径规划问题提出速度最优法,并与传统的A*算法进行对比研究。将两种方法的模拟计算结果进行对比,结果证明了速度最优法在短途路径规划的合理性,在逆风工况和风场变化频繁条件下明显优于传统A*算法。进一步的帆船模型湖上试验结果验证了速度最优法的实时性,与自动循迹控制程序具有良好的匹配性,可以满足无人帆船的短途航行要求。A new local route planning method for autonomous sailboat named as optimum speed method is proposed in the paper. By comparing the simulation results with those of traditional A＊ algorithm, the rationality and advantage of optimum speed method has been proved. The optimum speed method is superior to traditional A＊ algorithm when the boat sails against the wind or the wind field changes frequently. The model tests demonstrate that the optimum speed method is good in real-time application and works well with track following control model, which can meet the requirements of local route.

关 键 词：无人帆船 短途路径规划 A＊算法 速度最优法 

分 类 号：U661.31[交通运输工程—船舶及航道工程]