基于速度障碍和改进人工势场算法的无人艇路径规划研究  

Study on Path Planning of USV Based on Velocity Obstacle and Improved Artificial Potential Field Algorithm

作　　者：徐小强[1] 杨家鼎 冒燕 陈旭 XU Xiao-qiang;YANG Jia-ding;MAO Yan;CHEN Xu(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》2022年第7期96-102,共7页Journal of Wuhan University of Technology

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

摘　　要：针对水面无人艇对静态和动态障碍物进行路径规划时的速度选择问题,设计了一种交替使用速度障碍法和改进人工势场法的局部路径规划方法,通过对动态障碍物提前进行速度规划解决了传统人工势场法无法对动态障碍物进行避碰的问题,通过设置算法的参数可以对障碍物进行准确避碰。在不同场景下的仿真实验结果表明,相较于传统人工势场法,其有效解决了同时存在静态和动态障碍物下的路径规划问题,具有较精准的安全距离边界和较好的实时性,提高了避障效率。Aiming at the speed selection problem of surface unmanned vessels in path planning for static and dynamic obstacles,a local path planning method using velocity obstacle method and improved artificial potential field method is designed.Through speed planning for dynamic obstacles in advance,the problem that the traditional artificial potential field method can not avoid dynamic obstacles is solved.By setting the parameters of the algorithm,obstacles can be avoided accurately.The simulation results in different scenarios show that compared with the traditional artificial potential field method,it effectively solves the path planning problem under both static and dynamic obstacles,has more accurate safe distance boundary and better real-time performance,and improves the obstacle avoidance efficiency.

关 键 词：无人艇 路径规划 人工势场法 速度障碍 避碰 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]