一种基于图像细化的无人艇路径规划改进算法  

An Improved Algorithm for USV Path Planning Based on Image Thinning

作　　者：徐小强[1] 陈旭 冒燕 刘芃辉 XU Xiao-qiang;CHEN Xu;MAO Yan;LIU Peng-hui(School of Automation,Wuhan University of Technology,Wuhan 430070,China)

机构地区：[1]武汉理工大学自动化学院,武汉430070

出　　处：《武汉理工大学学报》2021年第6期95-100,共6页Journal of Wuhan University of Technology

基　　金：中央高校基本科研业务费专项基金(2019IVA045);山东省自然科学基金(ZR2020MF111)。

摘　　要：针对传统路径规划算法应用于智能无人艇时,存在路径与障碍物贴合太紧和算法速度太慢的不足,提出一种基于图像细化的无人艇路径规划算法,具体是将Rosenfeld细化算法与A*算法进行融合,同时使用视线算法(Line-of-Sight)对路径进行优化。通过实验对文中算法和传统A*算法进行了3个方面的测试对比,实验表明:文中算法在路径中关键转折点个数没有增加的条件下,保证了路径的安全性,同时还提高了算法速度。When the traditional path planning algorithm is applied to the intelligent unmanned aerial vehicle,the path and obstacles fit too tightly and the algorithm speed is too slow.We proposed a path planning algorithm for USV Based on image thinning,specifically,it fused the Rosenfeld algorithm and A*algorithm,and used the line of sight algorithm to optimize the path.The experimental results show that the algorithm can ensure the security of the path and improve the speed of the algorithm without increasing the number of critical turning points in the path.

关 键 词：路径规划 图像细化 无人艇 视线算法 路径优化 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]