内河无人船局部路径规划和循迹控制  

Local Path Planning and Path Following Control for Inland Water USV

作　　者：侯春晓[1] 许劲松[1] 杨荣武[1] 

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》2017年第6期41-45,共5页Ship Engineering

摘　　要：提出内河无人船在水流中的局部路径规划算法,并在直线Line of Sight算法基础上设计了一般曲线路径的LOS循迹控制算法。结合此算法,内河无人船完成了航行试验,实现了在落潮和涨潮等不同水流条件下的无人自主航行,验证了所提算法的有效性和实用性,对内河无人船的应用研究具有借鉴意义。A method of local path planning is proposed for inland water ships navigating in current. Based on the conventional line of sight （LOS） algorithm, the general curve path LOS control algorithm is developed. Combining the local path planning and curve path LOS algorithm, the inland water USV （unmanned surface vehicles） model can successfully complete the autonomous navigation along the planned path in rising tide and ebb tide. The test results demonstrate the effectiveness of the proposed method, which is valuable for further development of inland water USV.

关 键 词：内河无人船 局部路径规划 LOS循迹控制 航行试验 

分 类 号：U661.31[交通运输工程—船舶及航道工程]