基于改进RRT算法的无人艇编队路径规划技术  

Path planning technologies for USV formation based on improved RRT

作　　者：欧阳子路 王鸿东[1,2] 黄一[1,2] 杨楷文 易宏 OUYANG Zilu;WANG Hongdong;HUANG Yi;YANG Kaiwen;YI Hong(Key Laboratory of Marine Intelligent Equipment and System Ministry of Education,Shanghai Jiao Tong University,Shanghai 200240,China;State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学海洋智能装备与系统教育部重点实验室,上海200240 [2]上海交通大学海洋工程国家重点实验室,上海200240

出　　处：《中国舰船研究》2020年第3期18-24,共7页Chinese Journal of Ship Research

基　　金：国家自然科学基金资助项目(51909162);海洋工程国家重点实验室基金资助项目(GKZD010075)。

摘　　要：[目的]为了解决无人艇编队在智能航行时全局路径规划与局部自主避碰问题,提出基于改进快速搜索随机树(RRT)算法的无人艇编队路径规划技术。[方法]针对无人艇编队形状稳定问题,在RRT算法扩展环节提出一种非严格保形修正向量与非严格保形控制圆区域,使搜索树有朝着严格保形坐标点生长的趋势;针对突发障碍物与非严格保形规划点碰撞问题,在RRT算法碰撞检测环节提出可调节避碰圆区域与障碍物修正向量,使无人艇安全避碰并最大程度地保持队形稳定。[结果]结果显示,无人艇编队在该算法作用下表现出了良好的保形性能,并能对突发障碍物进行有效的避碰。[结论]该算法效能高、稳定性强、路径规划质量高,在实际工程应用中具有重要的意义。[Objectives]An algorithm for unmanned surface vehicle(USV)formation path planning based on an improved RRT algorithm is proposed for global path planning and obstacle avoidance.[Methods]For the shape stability of a USV formation,'non-strict conformal correction vector'and'non-strict conformal control circular area'are presented in the EXTEND operation in RRT,making the extension direction of the search tree tend towards the strict conformal point.For the situation of sudden obstacle collision with non-strict conformal planning points,adjustable collision avoidance circle and'obstacle correction vector'are presented in the collision-check operation in RRT,making the USV formation safely avoid collision and maintain stable formation to the greatest extent.[Results]The results show that a USV formation displays good conformal performance under the action of this algorithm,and effectively avoids sudden obstacles.[Conclusions]This research shows that the improved algorithm has such advantages as high efficiency,good stabilization and high-quality planning paths,making it of great significance for practical engineering application.

关 键 词：无人艇编队 快速搜索随机树算法 路径规划 避碰 

分 类 号：U664.82[交通运输工程—船舶及航道工程]