遵循COLREGs的USV多阶段自适应ph-Radau伪谱避障轨迹规划  

Multistage Adaptive ph-Radau Pseudospectra Method Coincide with COLREGs for USV Obstacle-Avoidance Trajectory Planning

作　　者：戴怀志 蒲红红 DAI Huai-Zhi;PU Hong-Hong(School of Telecommunications Engineering,Heilongjiang Communications Polytechnic,Qiqihar Heilongjiang 161000,China;School of Electrical Engineering ＆ Automation,Harbin Institute of Technology,Harbin Heilongjiang 150000,China)

机构地区：[1]黑龙江交通职业技术学院电信工程学院,黑龙江齐齐哈尔161000 [2]哈尔滨工业大学电气工程与自动化学院,黑龙江哈尔滨150000

出　　处：《指挥与控制学报》2018年第3期255-262,共8页Journal of Command and Control

摘　　要：针对无人水面航行器的动、静态障碍物规避问题,提出了符合国际海上避碰规则公约的多阶段自适应ph-Radau伪谱避障轨迹规划算法.遵循避碰规则公约设定避让航路点和禁航区约束,建立含禁航区、机动性能等约束的连续时间避障最优轨迹规划模型.引入内点约束,将模型转化为多阶段轨迹规划问题.然后,综合考虑求解精度和速度,给出自适应ph-Radau伪谱法离散化求解策略.最后,仿真实验验证了该算法的可行性和有效性.An multistage adaptive ph-Radau pseudospectra method accord with International Regulations for Preventing Collisions at Sea （COLREGs） is proposed for Unmanned Surface Vehicle （USV） obstacle-avoidance trajectory planning to evade dynamic and static obstacles. The forbidden zones and avoidance waypoints are firstly established abiding by COLREGs, followed by the continuous-time optical model including forbidden zones and maneuverability constraint. The model is next transformed into a multistage trajectory planning model by introducing the interior point. An adaptive ph-Radau pseudospectra for model discretization resolving is then proposed considering solution accuracy and velocity. Simulation experiments finally verified the feasibility and effectiveness of the proposed algorithm.

关 键 词：无人水面航行器 避障轨迹规划 国际海上避碰规则公约 自适应ph-Radau伪谱法 

分 类 号：U664.82[交通运输工程—船舶及航道工程]