基于输入约束与模糊参数的无人艇航迹规划  

USV Trajectory Planning Based on Input Constraints and Fuzzy Parameters

作　　者：褚天仁 陈羽 CHU Tianren;CHEN Yu(Jiangsu Ocean University,Lianyungang 222000,China)

机构地区：[1]江苏海洋大学,江苏连云港222000

出　　处：《舰船电子对抗》2024年第4期59-66,共8页Shipboard Electronic Countermeasure

摘　　要：针对水面无人艇在复杂环境下避障成功率低、航行路线非最优的问题,提出了一种基于输入约束与参数模糊选择的无人艇航迹规划算法。首先,在动态窗口法的基础上,结合无人艇动力学特性,借鉴速度障碍法对系统输入施加保守约束,严格保证无人艇不与障碍物发生碰撞。然后,利用专家知识库设计模糊参数选择器,使规划系统输入更符合人的操纵习惯。最后,与现有方法相对比,开展综合仿真研究,结果表明,基于输入约束与参数模糊选择的无人艇航迹规划方法在安全避障和最优路线选择方面具有更好的规划性能。A trajectory planning algorithm for unmanned surface vessel(USV)based on input constraints and parameter fuzzy selection is proposed to address the issues of low success rate of obstacle avoidance and suboptimal navigation routes in complex environments.Firstly,based on the dynamic window method and combined with the dynamic characteristics of USV,conservative constraints are applied to the system input by using the velocity obstacle method,which strictly ensures that USV not collide with obstacles.Then a fuzzy parameter selector is designed by using an expert knowledge base to make the input of the planning system more in line with human manipulation habits.Finally,the proposed algorithm is compared with existing methods,and a comprehensive simulation study is carried out.The results show that the USV trajectory planning method based on input constraints and parameter fuzzy selection has better planning performance in safety obstacle avoidance and optimal route selection.

关 键 词：水面无人艇 航迹规划 模糊参数选择器 输入约束法 

分 类 号：U664.82[交通运输工程—船舶及航道工程]