融合改进动态窗口法与速度障碍法的无人船局部路径规划  

Local path planning for USVs based on the fusion algorithm of improved dynamic window approach and velocity obstacle algorithm

作　　者：谭智坤 张隆辉[1] 刘正锋[1] 魏纳新[1] TAN Zhi-kun;ZHANG Long-hui;LIU Zheng-feng;WEI Na-xin(National Key Laboratory of Science and Technology on Hydrodynamics,China Ship Scientific Research Center,Wuxi 214082,China)

机构地区：[1]中国船舶科学研究中心水动力学重点实验室,江苏无锡214082

出　　处：《船舶力学》2023年第3期311-322,共12页Journal of Ship Mechanics

基　　金：绿色智能内河船舶创新专项([2019]358);水动力学重点实验室基金项目(202004)。

摘　　要：为解决传统动态窗口法未考虑无人船的运动特性,规划路径绕行于障碍物稠密区外围,路程偏长,且与动态障碍物距离过近,动态避障效果不佳等缺点,提出融合改进动态窗口法与速度障碍法的无人船局部路径规划算法。首先,对于无人船的运动特性,在速度选择中考虑艏摇角速度及漂角的影响;其次,提出障碍物搜索角这一概念,更好地处理障碍物对无人船航行造成的影响,使得无人船可穿行于障碍物稠密区而不发生碰撞,且可大大缩短航行的路程与时间;最后,融合速度障碍法,并根据无人船与动态障碍物的相对速度提出新的动态窗口法评价函数,使得无人船在避碰安全的情况下以较快的速度避开动态障碍物。数值仿真结果表明,改进方法规划的路径曲折少、更平滑,有利于无人船的航行,在路径长度、航行时间与平均速度等方面均优于传统算法,并且具有更强的动态避障调节能力。The traditional dynamic window approach(DWA) does not consider the motion characteristics of unmanned surface vehicles(USVs),and the planned path bypasses the periphery of the dense area of obstacles,which will cause the path length to be too long.At the same time,the USVs will be too close to the dynamic obstacles,so the dynamic obstacle avoidance effect will be poor.In order to solve these shortcomings,a local path planning algorithm of USVs integrating the improved dynamic window method and the velocity obstacle algorithm was proposed.Firstly,considering the motion characteristics of USVs,the influence of yaw rate and drift angle was considered in the speed selection.Then,the concept of obstacle search angle was proposed to better deal with the impact of obstacles on USV navigation,which ensures USVs to pass through the dense area of obstacles without collision and to greatly shorten the navigation time and path length.Finally,with integration of the velocity obstacle algorithm,a new evaluation function of dynamic window algorithm was obtained according to the relative speed between USVs and dynamic obstacles,so that USVs can avoid dynamic obstacles at a faster speed under the condition of collision avoidance safety.The numerical simulation results show that the path planned by the improved method has less twists and turns and is smoother,which is conducive to the navigation of USVs.The improved method is better than the traditional algorithm in calculation of path length,navigation time and average speed,and has a stronger dynamic obstacle avoidance adjustment ability.

关 键 词：水面无人船 局部路径规划 动态窗口法 速度障碍法 避障 最优路径 

分 类 号：U664.82[交通运输工程—船舶及航道工程]