基于虚拟领航者和改进胡克定律的无人船集群避障  

Obstacle avoidance of unmanned ship swarm based on virtual navigator and improved Hooke’s law

作　　者：闫炳成 曹乐 YAN Bingcheng;CAO Le(School of Electrical and Electronic Engineering,Shanghai University of Engineering Science,Shanghai,201620 China)

机构地区：[1]上海工程技术大学电子电气工程学院,上海201620

出　　处：《中国舰船研究》2023年第1期78-88,共11页Chinese Journal of Ship Research

基　　金：国家自然科学基金资助项目(61703270)。

摘　　要：[目的]针对无人船集群规避障碍物的问题,提出一种基于虚拟领航者和改进胡克定律的弹性集群编队控制方法。[方法]首先,根据障碍物的长和宽得到其外接椭圆,按照长宽比向外扩展出虚拟碰障区、避障反应区、自由航行区,实现水面避障物模型的简化;其次,基于虚拟领航者和改进胡克定律,对编队各成员之间、各成员虚拟领航者之间的相对距离和速度予以约束,采用坐标形式设置编队队形,构建弹性编队模型,并基于障碍物的环形斥力场来实现单无人船的避障,以及在弹性集群编队的组织下实现无人船集群的避障;然后,通过优化处理无人船的航行过程,消除编队及避障过程中的“徘徊”和“振荡”等现象,使各无人船的运动更加平滑;最后,运用Matlab软件对由4艘无人船组成的集群编队进行仿真实验。[结果]实验结果表明,编队可成功绕过设置的所有障碍物,验证了所提方法的有效性和可行性。[结论]该方法可实现无人船集群对水面障碍物的规避,具备在一定复杂环境下的通过能力,可为无人船集群避障的应用及研究提供参考。[Objective]Aiming at the obstacle avoidance of unmanned ship swarm,this paper proposes an elastic formation control method based on a virtual navigator and improved Hooke’s law.[Methods]First,the external ellipse is obtained according to the length and width of the obstacle,and the virtual obstacle avoidance area,obstacle avoidance response area and free navigation area are then extended outward according to the aspect ratio in order to simplify obstacle avoidance on the surface of the water.Second,based on the virtual navigator and improved Hooke’s law,the constraints on relative distance and speed between each members of the formation as well as those between each members of the formation and the virtual navigator are given,and the formation configuration of the multiple unmanned ships is set in the form of coordinates so as to construct an elastic formation model.Further,based on the obstacle annular repulsive field,the obstacle avoidance of a single unmanned ship is realized.The obstacle avoidance of the multiple unmanned ships can then be realized under the organization of the elastic formation.Moreover,the sailing process of unmanned ship is optimized to eliminate the phenomena of"wandering"and"shaking"in the process of formation and obstacle avoidance,and increase the smoothness of the movement of the unmanned ship.Finally,four unmanned ships are used to form a formation,and a simulation experiment based on Matlab is carried out.[Result]The results show that all obstacles are successfully bypassed,verifying the effectiveness and feasibility of the proposed method.[Conclusions]This method can achieve the avoidance of surface obstacles for unmanned ship swarms,giving them a certain ability to pass through complex environments,thereby providing references for the application and research of unmanned ship swarm obstacle avoidance.

关 键 词：无人船集群 避障 虚拟领航者 领航-跟随算法 改进胡克定律 

分 类 号：U664.82[交通运输工程—船舶及航道工程]