基于海事规则和船舶操纵性的运动规划方法研究  

Research on Motion Planning Method Based on Maritime Rules and Ship Maneuverability

作　　者：杜希森 徐海祥[1,2] 冯辉[1,2] 汪咏 DU Xisen;XU Haixiang;FENG Hui;WANG Yong(School of Naval Architecture,Ocean and Energy Power Engineering,Wuhan 430063,China;Key Laboratory of High Performance Ship Technology,Wuhan University of Technology,Ministry of Education,Wuhan 430063,China)

机构地区：[1]武汉理工大学船海与能源动力工程学院,武汉430063 [2]武汉理工大学高性能舰船技术教育部重点实验室,武汉430063

出　　处：《武汉理工大学学报（交通科学与工程版）》2024年第1期79-85,共7页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：国家自然科学基金(51879210、51979210);中央高校基本科研业务费专项资金项目(2019Ⅲ040、2019Ⅲ132CG)。

摘　　要：文中提出了一种基于海事规则和船舶操纵性的运动规划方法.根据海事规则的要求,限制船舶转艏可行域.根据船舶推进器布局分析船舶操纵性能,并通过人工势场求取船舶转艏方向,采用计算势能的方式取代传统方法中计算合力的方式,计算船舶所需推力和转矩.将所求推力和转矩作用于船舶,得到一条包含速度和艏向信息的船舶运动轨迹.将并提出的方法与传统人工势场法进行仿真对比.结果表明:所提出的运动规划方法所规划的轨迹能够满足海事规则的要求,与传统人工势场法所规划的轨迹相比更加平滑,且满足船舶操纵性的要求,控制效果更好.A motion planning method based on maritime rules and ship maneuverability was proposed.According to the requirements of maritime rules,the feasible area of ship transit was restricted.The maneuverability of the ship was analyzed according to the layout of the ship propeller,and the turning direction of the ship was obtained through the artificial potential field.The method of calculating potential energy was used to calculate the thrust and torque required by the ship instead of the traditional method of calculating resultant force.By applying the required thrust and torque to the ship,a ship trajectory containing speed and heading information was obtained,and the proposed method was simulated and compared with the traditional artificial potential field method.The results show that the trajectory planned by the proposed motion planning method can meet the requirements of maritime rules,is smoother than that planned by the traditional artificial potential field method,meets the requirements of ship maneuverability and has better control effect.

关 键 词：运动规划 海事规则 船舶操纵性 人工势场法 海上避碰 

分 类 号：U664.82[交通运输工程—船舶及航道工程]