水面无人艇运动规划研究综述  

A review of research on motion planning of unmanned surface vehicles

作　　者：高霄鹏[1] 刘冬雨 霍聪[1] GAO Xiao-peng;LIU Dong-yu;HUO Cong(School of Naval and Oceanographic,Naval Engineering University,Wuhan 430030,China)

机构地区：[1]海军工程大学舰船与海洋学院,湖北武汉430030

出　　处：《舰船科学技术》2023年第16期1-6,共6页Ship Science and Technology

摘　　要：水面无人艇的路径规划是近年的研究热点之一,也是实现USV完全自主航行的关键技术之一。针对USV路径规划问题,本文从路线规划、轨迹优化与运动规划3方面总结水面无人艇路径规划技术的研究现状,并结合近年各学者的研究成果,分别分析了各方法的优劣,以及每种方法为了适应USV运动特征而进行的优化改进。最后对无人艇运动规划的一种发展趋势作简要展望,为未来的研究工作提供思路。The path planning of the USV is one of the research hotspots in recent years,and it is one of the key technologies to realize the fully autonomous navigation of USV.In view of the USV path planning problem,this paper summarizes the research status of the path planning technology of the USV from three aspects:route planning,trajectory optimization and motion planning.This paper analyzes the advantages and disadvantages of each method,and the optimization and improvement of each method in order to adapt to the USV motion characteristics.Finally,a brief prospect of a development trend of USV motion planning is given to provide ideas for future research work.

关 键 词：水面无人艇 路线规划 轨迹优化 运动规划 

分 类 号：U675.79[交通运输工程—船舶及航道工程]