无人船实时路径规划与编队控制仿真研究  

Simulation of Real-Time Path Planning and Formation Control for Unmanned Surface Vessel

作　　者：宋大雷[1,2] 干文浩 许嘤枝 曲秀青 曹江丽 Song Dalei;Gan Wenhao;Xu Yingzhi;Qu Xiuqing;Cao Jiangli(College of Engineering,Ocean University of China,Qingdao 266100,China;Institute for Advanced Ocean Study,Ocean University of China,Qingdao 266100,China;College of Information Science Engineering,Ocean University of China,Qingdao 266100,China;709th Research Institute,China Shipbuilding Industry Corporation,Wuhan 430205,China)

机构地区：[1]中国海洋大学工程学院,山东青岛266100 [2]中国海洋大学海洋高等研究院,山东青岛266100 [3]中国海洋大学信息科学与工程学部,山东青岛266100 [4]中国船舶重工集团公司第七〇九研究所,湖北武汉430205

出　　处：《系统仿真学报》2023年第5期957-970,共14页Journal of System Simulation

基　　金：十三五国防预研项目(995-02030503)。

摘　　要：安全和无碰撞导航是无人船正常航行的基础。通过Unity3D构建高保真的虚拟海洋环境,在无人船建模基础上,提出一种面向未知复杂环境的实时路径规划及编队控制方法。利用激光雷达获取的局部环境信息,在重规划的策略下,结合A-star以及航路抽稀方法完成实时局部路径规划。基于领航-跟随者策略与一致性方法进行编队控制,结合人工势场法完成多无人船的避障航行任务。在多种复杂地图上的仿真实验表明,该仿真系统具有较好的真实性和视觉效果,为无人船模拟试航提供了有效手段。同时,无人船群利用所提算法可以依次抵达预设航路点,自主变换队形实时避障,在工程应用中具有一定理论意义和实用性。Safety and collision-free navigation are the basis of normal navigation of an unmanned surface vessel.The high-fidelity virtual ocean is constructed by using Unity3D.On the basis of the vessel modeling,a real-time path planning and formation control method for unknown complex environments is proposed.Firstly,the local environment information is obtained by the laser sensor.Then the real-time local path planning is completed by combining A-star and route-thinning methods under the replanning strategy.In addition,formation control is carried out based on the leader-follower strategy and consistency method,and the artificial potential field is used to complete the navigation task of the unmanned surface vessel in terms of obstacle avoidance.The simulation experiments on various complex scenarios show that the system has excellent authenticity and visual effects and provides an effective means for simulating vessel navigation.At the same time,based on the proposed algorithm,the vessel fleet can arrive at the preset waypoints successively and independently change the formation to avoid obstacles in real-time,which has certain theoretical significance and practicability in engineering applications.

关 键 词：无人船 运动仿真 场景模拟 路径规划 编队控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]