无人水面艇岛礁海域完全遍历路径规划  

Complete coverage path planning of USV used for mapping round island

作　　者：钟雨轩[1] 葛磊[1] 张鑫[1] 彭艳[1] 杨毅[1] 李小毛[1] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《上海大学学报（自然科学版）》2017年第1期17-26,共10页Journal of Shanghai University:Natural Science Edition

基　　金：国家自然科学基金资助项目(61403245;51675318;61673254);上海市科委能力建设资助项目(14500500400)

摘　　要：针对无人水面艇(unmanned surface vehicle,USV)对岛礁海域自主测绘时存在的任务计算量大、场景复杂等问题,提出了一种考虑主动方向的动态栅格法与启发式搜索算法.该方法基于动态栅格法进行环境建模,利用优先级启发式算法选择进行遍历的路径点,并在无人水面艇陷入死锁时通过启发式搜索算法产生走出死锁点的最优路径.仿真实验结果表明,该方法能使路径规划的性能得到较大的提升,且规划出的路径更为合理有效,满足无人水面艇对岛礁区域测绘时的路径需求.When mapping the seabed around islands independently, there are difficulties like large amount of calculation and complex task scene for mapping with an unmanned surface vehicle （USV）. To solve the problems, an algorithm composed of a dynamic grids algorithm for main motion direction and a heuristic search algorithm is proposed. This algorithm establishes an environmental model based on the dynamic grids algorithm. The heuristic algorithm based on priority is used to choose an appropriate path point to travel. When the USV getting into a deadlock, an optimal path is generated with the heuristic search algorithm to get out. Simulation results show that perforrnance of path planning is improved with the proposed algorithm. The planned path is more reasonable and effective to meet the needs when using USV to map the seabed around an island.

关 键 词：无人水面艇 路径规划 动态栅格法 优先级启发式算法 启发式搜索算法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]