基于碰撞危险度的无陷阱动态航路规划  

Non-trap dynamic path planning based on collision risk

作　　者：陈天德 黄炎焱[1] 张永亮 CHEN Tiande;HUANG Yanyan;ZHANG Yongliang(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China;Command and Control Engineering College,Army Engineering University of PLA,Nanjing 210007,China)

机构地区：[1]南京理工大学自动化学院,江苏南京210094 [2]中国人民解放军陆军工程大学指挥控制工程学院,江苏南京210007

出　　处：《系统工程与电子技术》2019年第11期2496-2506,共11页Systems Engineering and Electronics

基　　金：国家自然科学基金（61374186）;装备发展部领域一般基金（61403120205）资助课题

摘　　要：由于人工势场法中障碍物的影响距离通常为一个固定值,不可避免地导致无谓避碰行为的出现,极大影响航路规划的效率。本文在动态环境下,针对无谓避碰行为,提出碰撞危险度评估模型和障碍物影响距离确定模型;针对障碍物在目标附近目标不可及问题(goals nonreachable with obstacles nearby,GNRON),提出能够区别评估障碍物的时间碰撞危险度模型;针对陷阱问题,提出虚拟障碍物法,以此构成基于碰撞危险度的无陷阱动态航路规划法。仿真结果表明该方法能够有效避免无谓避碰行为和陷阱问题的发生,且无GNRON问题,所得路径也较短且平滑。While using the artificial potential field method,the influence distance of obstacles is usually a fixed value,which inevitably leads to the occurrence of unnecessary collision avoidance behavior,thus greatly reducing the efficiency of path planning.In the dynamic environment,the collision risk assessment model and the obstacle influence distance determination model targeting unnecessary collision avoidance behaviors are proposed.Moreover,aiming at solving the problem of goals nonreachable with obstacles nearby (GNRON),the time collision risk model which is capable of distinguishing and assessing obstacles is proposed.Furthermore,in order to deal with the trap problem,the virtual obstacle method is proposed.The model and the method mentioned above together form the non-trap dynamic path planning method based on collision risk.Finally,the simulation results show that this method can effectively avoid unnecessary collision avoidance behavior and trap problem,and there is no GNRON problem.Besides,the obtained path is relatively short and smooth.

关 键 词：人工势场法 动态环境 无谓避碰 障碍物在目标附近目标不可及 陷阱问题 碰撞危险度 虚拟障碍物 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]