基于改进快速行进法的水面无人船全局路径规划  

Global path planning of unmanned surface vehicles based on improved fast marching method

作　　者：张乃天 陈世才[1] 蒙子昕 ZHANG Naitian;CHEN Shicai;MENG Zixin(Navigation College,Dalian Maritime University,Dalian 116026,Liaoning,China)

机构地区：[1]大连海事大学航海学院,辽宁大连116026

出　　处：《上海海事大学学报》2023年第3期5-11,共7页Journal of Shanghai Maritime University

摘　　要：为解决将快速行进法用于水面无人船(unmanned surface vehicle,USV)全局路径规划所得路径安全性低和复杂度高的问题,对快速行进法进行改进。为提高所规划路径的安全性,设置障碍物时间场函数使USV能远距离避障。为降低所规划路径的复杂度,设置梯度拐点评价函数使USV转向次数减少。通过MATLAB分别对改进快速行进法与传统快速行进法、快速行进平方法进行对比分析,仿真结果验证了本文所提算法的可行性和有效性。In order to solve the problem of low safety and high complexity of the obtained path in the global path planning of unmanned surface vehicles(USVs)by the fast marching method,the fast marching method is improved.In order to improve the safety of the planned path,the obstacle time field function is set to make USVs avoid obstacles from a long distance.In order to reduce the complexity of the planned path,a gradient inflection point evaluation function is set to reduce the number of USV turning.The improved fast marching method is compared with the traditional fast marching method and the traditional fast marching square method by MATLAB.The simulation results verify the feasibility and effectiveness of the proposed algorithm.

关 键 词：水面无人船(USV) 全局路径规划 快速行进法 障碍物时间场函数 梯度拐点评价函数 

分 类 号：U664.82[交通运输工程—船舶及航道工程]