基于改进速度障碍法的水面无人艇动态避障  

Dynamic obstacle avoidance of unmanned surface vehicle based on improved speed obstacle method

作　　者：洪晓斌[1] 徐郑攀 魏新勇 朱坤财 陈远明[2] HONG Xiao-bin;XU Zheng-pan;WEI Xin-yong;ZHU Kun-cai;CHEN Yuan-ming(College of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,China;College of Civil Engineering and Transportation,South China University of Technology,Guangzhou 510641,China)

机构地区：[1]华南理工大学机械工程学院,广东广州510640 [2]华南理工大学土木与交通学院,广东广州510641

出　　处：《光学精密工程》2021年第9期2126-2139,共14页Optics and Precision Engineering

基　　金：国家重点研发计划资助项目(No.2019YFB1804200);广东省基础与应用基础研究基金资助项目(No.2019B151502057)。

摘　　要：针对水面无人艇在复杂海况下的动态避障问题,构建了障碍物模型和碰撞风险模型,通过引入多个约束条件的改进速度障碍法,实现了复杂海况下水面无人艇动态避障的航迹重规划。针对无人艇长宽比较大的几何特点,提出了矩形包围框的障碍物模型描述方法,建立无人艇相对运动模型,并在船体坐标系下计算相对运动参数。通过计算碰撞危险度来确定开始避障的时机。最后,在速度障碍法的基础上引入障碍物模型约束和水面无人艇自主局部避障系统特性约束对避障路径进行优化,并通过实验获得动态避障环境下的航迹重规划结果。基于V-REP(Virtual Robot Experimentation Platform)平台仿真实验以及实船避障实验表明,在航速12节的情况下,避碰过程中的路径重规划时间在15 s以下,满足在实际航行多约束条件下水面无人艇的动态避障要求。Aiming at solving the dynamic collision avoidance problem for unmanned surface vehicle under complex marine status,this study constructs the obstacle model and the collision risk model to achieve the track re-planning of dynamic collision avoidance in complex sea conditions with the improved velocity ob⁃stacle method that introduced multiple constraints.Firstly,an obstacle model description method for rect⁃angular bounding box was proposed for USV's geometric characteristics of large aspect ratio.A relative motion model of USV in hull coordinate system was established with the relative motion parameters calcu⁃lated.Secondly,the collision risk was calculated to determine the time to start avoiding the obstacle.Last⁃ly,improved obstacle avoidance path was constructed by introducing obstacle model constraints and characteristic constraints of USV’s autonomous local obstacle avoidance system based on velocity obstacle method.The track re-planning results were obtained through experiments.The simulated experiment on the physical simulation platform of V-REP(Virtual Robot Experimentation Platform)and the actual ship obstacle avoidance experiment show that the path re-planning time during collision avoidance is less than 15 s at a speed of 12 knots,meeting the dynamic collision avoidance requirements of unmanned surface ve⁃hicle under multiple constraints of actual navigation.

关 键 词：无人艇 碰撞危险度模型 改进速度障碍法 动态避障方法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]