最大可航窗口序列约束贝塞尔曲线的无人船自主航行航线规划方法  

Autonomous Navigation Route Planning Method of Unmanned Ship Based on Bessel Curves Constrained by Maximum Navigable Window Sequence

作　　者：周寅飞 张立华[1,2] 贾帅东[1,2] 戴泽源 董箭 马梦锴 ZHOU Yinfei;ZHANG Lihua;JIA Shuaidong;DAI Zeyuan;DONG Jian;MA Mengkai(Department of Military Oceanography and Hydrography&.Cartography,Dalian Naval Academy,Dalian 116018,China;Key Laboratory of Hydrographic Surveying and Mapping,Dalian Naval Academy,Dalian 116018,China)

机构地区：[1]大连舰艇学院军事海洋与测绘系,辽宁大连116018 [2]大连舰艇学院海洋测绘工程重点实验室,辽宁大连116018

出　　处：《武汉大学学报（信息科学版）》2024年第7期1224-1236,共13页Geomatics and Information Science of Wuhan University

基　　金：国家自然科学基金(41871369,41901320,42071439)。

摘　　要：提出了一种最大可航窗口序列约束贝塞尔曲线的无人船自主航行航线规划方法。首先,根据电子海图求取碍航区,进而预生成航路点,沿预生成航路依次提取与碍航区不相交的最大可航窗口序列,构建可航约束空间;然后,挖掘贝塞尔曲线在控制点约束包络区域内进行运动参数关联计算的潜能,将航线规划转换为空间与运动参数双约束下通过凸优化求解贝塞尔航路曲线控制点的问题。最后,分别通过仿真和实船实验,对所提方法与已有方法进行对比分析。实验结果表明:(1)所提方法能够顾及船舶运动约束来规划航线,进而有效提高无人船执行规划航线的精度;(2)所提方法可以引导无人船以特定任务所需航向、航速等运动参数自主航行通过指定位置,达到灵活机动的目的。Objective:Route planning is the foundation of the safe and efficient navigation of ships.Due to insufficient consideration of the requirements for autonomous navigation unmanned ships,the current route planning method has two problems:(1)Own to the insufficient consideration for the motion constraints of ships in the planning route,the unmanned ship tends to produce the track deviation near the turning position and is likely to cross the navigation obstruction area while sailing autonomously.(2)The planned route is difficult to guide the unmanned ship to sail autonomously through the specified place flexibly with the course and speed for a specific task.Therefore,we propose a route planning method for autonomous navi-gation of the unmanned ship with a maximum navigable window sequence that constrains Bezier curves.Methods:First,the navigation obstruction areas are calculated on the basis of electronic navigation charts,the maximum navigable window sequence that does not intersect with the navigation obstruction area is ex-tracted along the pre-generated route,and the navigable constraint space is constructed.Then,the poten-tial of the Bezier curve for the calculation of related motion parameters in the constraint envelope area of control points is excavated,and the route planning is transformed into a problem for the control point of Bezier curves through convex optimization under the double constraints of space and motion parameters.Finally,the method is compared with the existing methods through simulation and real ship experiments.Results:The experimental results show that:(1)This method could effectively reduce the oscillation of track tracing of the unmanned ship at the turning position and significantly improve the tracking control accuracy of the unmanned ship.The maximum horizontal and vertical errors and variances of the track tracing of the route generated by the method are significantly less than those of the improved binary tree method of the route.(2)The actual speed and course are basically consiste

关 键 词：航线规划 运动约束 自主航行 贝塞尔曲线 碍航区 

分 类 号：P208[天文地球—地图制图学与地理信息工程]