基于改进APF算法的水面无人艇局部路径规划  

Local path planning for USV based on improved APF algorithm

作　　者：张扬[1,2] 彭鹏菲 曹杰[3] ZHANG Yang;PENG Pengfei;CAO Jie(College of Electronics Engineering,Naval University of Engineering,Wuhan 430000,China;Unit 92057 of PLA,Zhanjiang 524000,China;Unit 91526 of PLA,Zhanjiang 524000,China)

机构地区：[1]海军工程大学电子工程学院,武汉430000 [2]中国人民解放军92057部队,广东湛江524000 [3]中国人民解放军91526部队,广东湛江524000

出　　处：《兵器装备工程学报》2023年第9期42-48,共7页Journal of Ordnance Equipment Engineering

基　　金：海军工程大学科研发展基金自主立项项目(425317S107)。

摘　　要：为解决传统人工势场法(APF)进行水面无人艇路径规划时出现局部最小和路径不平滑的问题,对斥力系数进行动态调整并引入逃逸力。为使水面无人艇在动态避碰中按国际海上避碰规则(international regulations for preventing collisions at sea,COLREGS)航行,结合无人艇性能制定了无人艇的避碰规则,并引入转向力。通过Matlab对静态未知障碍物的仿真实验,验证改进APF算法能解决局部最小问题且规划的路径更加安全平滑。通过对动态未知障碍物4种典型局面的仿真实验表明,改进APF算法在复杂环境下也能引导无人艇在符合避碰规则的前提下对多个动态障碍进行安全规避。In order to solve the problems of local minimum and path unsmooth when the traditional artificial potential field(APF)method is used for unmanned surface vessel(USV)path planning,the repulsion coefficient is dynamically adjusted and the escape force is introduced.To make the USV navigate in dynamic collision avoidance according to the International Regulations for Preventing Collisions at Sea(COLREGS),combining with USV performance,the collision avoidance rules of USV are formulated and steering force is introduced.Through the simulation experiment on static unknown obstacles by MATLAB,it is verified that the improved APF algorithm can solve the local minimum problem and the planned path is safer and smoother.Simulation experiments on four typical situations of dynamic obstacles show that the improved APF algorithm can guide the USV to avoid multiple dynamic obstacles in accordance with the COLREGS in a complex environment.

关 键 词：人工势场法 水面无人艇 局部最小值 动态避障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]