基于POA和COLREGS的无人艇路径重规划方法  

A Method for Path Re-planning of Unmanned Surface Vessels Based on POA and COLREGS

作　　者：狄伟 DI Wei(East Sea Navigation Support Center,Ministry of Transport,Shanghai 201208,China)

机构地区：[1]交通运输部东海航海保障中心

出　　处：《交通信息与安全》2019年第3期1-11,共11页Journal of Transport Information and Safety

基　　金：国家自然科学基金项目(61673254)资助

摘　　要：避碰能力是无人艇(USVs)自主技术的核心体现。为了提高无人艇高速避碰过程的稳定性和安全性,在全局路径规划层和实时避碰层之间增加路径重规划层,实时调整航路对远距离障碍物进行提前规避。针对障碍信息不确定条件下的无人艇高速避碰问题,提出了基于障碍投影区(POA)和国际海上避碰规则(COLREGS)的路径重规划方法,解决障碍信息不确定性问题的同时兼顾航行规则约束。在POA区域2侧同时搜索安全可达路径,结合前次路径重规划结果,提出定量评价函数选择最优路径,保证无人艇航行稳定性。在仿真平台下,对比避碰策略变化次数和避碰安全距离2项指标,3层避碰框架(2.632次,162.3m)明显优于2层避碰框架(7.239次,35.8m)。在实艇高速避碰实验中,设计对遇、交叉、超越等典型会遇场景,每种场景下避碰策略变化次数均控制在5次以内,避碰安全距离保证在100m以上。实验结果表明,基于POA和COLREGS的路径重规划方法能够兼顾安全性和稳定性。Autonomous collision avoidance is one of the most important capabilities for unmanned surface vessels(USVs).In order to ensure stability and safety of collision avoidance of USVs under high-speed,apath re-planning layer is added between global path planning layer and real-time collision avoidance layer,which supporting USVs to avoid obstacles far away from itself in advance.A method for path re-planning based on projected obstacle area(POA)and International Regulations for Preventing Collisions at Sea(COLREGS)is proposed to avoid obstacles under uncertain information,while considering traffic regulations at sea.Methods for searching secure and accessible paths on both left and right sides of the projected obstacle area are developed,and a quantitative evaluation function is used to choose the best replanning path to ensure stability and safety.The number of strategy changes and safety distances are compared.A collision avoidance framework of three-layered(with results of 2.632 collisions,162.3 m)is superior to two-layered(with results of 7.239 collisions,35.8 m).Four typical encounters including heading on,crossing from left,crossing from right,and overtaking are conducted in actual collision avoidance experiments of USVs under high-speed.The numbers of strategy changes are limited to 5 times,and safety distances are above 100 min each experiment.The results show that the path re-planning method based on POA and COLREGS is both stability and safety.

关 键 词：交通安全 无人艇 避碰 路径重规划 国际海上避碰规则 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]