无人作战艇在未知海域避碰规划算法研究  

Research on Collision Avoidance Planning Algorithm for USV in Unknown Seas

作　　者：窦强 马金伟[2] 韩昱 DOU Qiang;MA Jin-wei;HAN Yu(Military Representative Office of Naval Armaments Department in Lianyungang Area, Lianyungang 222061;Jiangsu Automation Research Institute, Lianyungang 222061;LYG Specialized Secondary School, Department of Mechanical and Electrical Engineering, Lianyungang 222061, China)

机构地区：[1]海装驻连云港地区军事代表室,江苏连云港222061 [2]江苏自动化研究所,江苏连云港222061 [3]连云港中等专业学校机电工程系,江苏连云港222061

出　　处：《指挥控制与仿真》2022年第3期7-13,共7页Command Control & Simulation

摘　　要：为提高无人作战艇在未知海域的环境适应能力与自主航行避碰规划能力,借鉴栅格法和人工势场法,提出了一种基于导航雷达回波视频的避碰规划算法。首先基于导航雷达视频对无人艇近区环境进行栅格化构建,然后基于构建的栅格化环境采用人工势场法进行避碰规划,最后开展仿真和试验验证。试验结果表明该算法能够依托雷达视频图像支持无人艇进行自主航行,并引导无人艇抵达目标点。In order to improve the environmental adaptability of Unmanned Surface Vessel(USV)in unknown waters and guarantee its collision avoidance planning ability for autonomous navigation,this paper puts forward a collision avoidance planning algorithm based on navigation radar echo videos,which referred to the ideas of grid method and artificial potential field method.Firstly,the raster construction of the near area environment of USV is carried out based on navigation radar videos.Then,based on the constructed rasterized environment,the artificial potential field method is used for collision avoidance planning.Finally,through simulation and experimental verification,the experimental results show that this algorithm can support the autonomous navigation of USV by relying on radar video images,and guide USV to the target points.

关 键 词：无人作战艇 环境栅格 航路规划 人工势场 

分 类 号：E919[军事] E92[军事—军事装备学]