考虑船舶操纵性的无人艇路径规划方法  

Path planning method of unmanned surface vehicle considering ship maneuverability

作　　者：汪咏 徐海祥[1,2] 冯辉[1,2] 余文曌 WANG Yong;XU Haixiang;FENG Hui;YU Wenzhao(School of Naval Architecture,Ocean and Energy Power Engineering,Wuhan University of Technology,Wuhan 430063,China;Key Laboratory of High Performance Ship Technology,Ministry of Education,Wuhan University of Technology,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,湖北武汉430063 [2]武汉理工大学高性能船舶技术教育部重点实验室,湖北武汉430063

出　　处：《华中科技大学学报（自然科学版）》2024年第3期91-96,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(51979210,52371374)。

摘　　要：为使规划算法得出的路径更加符合无人艇操纵特性,基于人工势场法,结合船舶操纵方程提出了一种满足无人艇操纵性的路径规划方法.首先,根据无人艇的运动特性,在势场函数中加入障碍物相对方位角信息;其次,通过分析船舶的KT方程,设计了一种无人艇航行时的动态转艏限制角,并将其与人工势场法相结合;然后,对比分析了改进后人工势场法和经典人工势场法的规划路径,结果表明改进后算法规划出的路径更为平滑;最后,利用传统LOS引导律和PID控制器对规划路径进行循迹仿真,进一步验证了改进后算法规划出的路径的优越性.In order to make the path obtained by the planning algorithm more consistent with the manoeuvring characteristics of unmanned surface vehicle,a path planning method was proposed based on the artificial potential field method and the ship manoeuvring equation was combined with to meet the manoeuvrability of unmanned surface vehicle.Firstly,according to the motion characteristics of unmanned craft,the relative azimuth information of obstacles was added to the potential field function.Secondly,by analyzing the KT equation of the ship,the dynamic yaw limit angle was designed,and it was combined with the artificial potential field method.Then,the improved artificial potential field method and the classical artificial potential field method were compared and analyzed.The results show that the path planned by the improved algorithm is smoother.Finally,the traditional Los guidance law and PID controller were used to track the planned path,which further verified the superiority of the path planned by the improved algorithm.

关 键 词：无人艇 路径规划 操纵方程 人工势场法 路径平滑 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置] U664.82[自动化与计算机技术—控制科学与工程]