基于A^(∗)和扩展动态窗口算法的欠驱动船舶自动靠泊轨迹规划  

Automatic berthing trajectory planning for an underactuated ship based on A^(∗)and extended dynamic window algorithm

作　　者：王紫凡 宋国宾 马枫[1,2,3] 吴兵[1,2,3] WANG Zifan;SONG Guobin;MA Feng;WU Bing(State Key Laboratory of Maritime Technology and Safety(SKL MTS),Wuhan University of Technology,Wuhan 430063,China;Intelligent Transportation Systems Research Center,Wuhan University of Technology,Wuhan 430063,China;National Engineering Research Center for Water Transport Safety,Wuhan University of Technology,Wuhan 430063,China;School of Transportation and Logistics Engineering,Wuhan University of Technology,Wuhan 430063,China;Rizhao Port Pilot Station,Rizhao 276800,China)

机构地区：[1]武汉理工大学水路交通控制全国重点实验室,武汉430063 [2]武汉理工大学国家水运安全工程技术研究中心,武汉430063 [3]武汉理工大学智能交通系统研究中心,武汉430063 [4]武汉理工大学交通与物流工程学院,武汉430063 [5]日照港引航站,山东日照276800

出　　处：《大连海事大学学报》2024年第3期78-86,112,共10页Journal of Dalian Maritime University

基　　金：国家自然科学基金资助项目(51920105014,52071248,52272422)。

摘　　要：为优化欠驱动船舶自动靠泊的轨迹规划问题,避免陷入局部最优,提出一种考虑船舶运动学模型整体约束和障碍物约束的实时轨迹规划方法。在栅格化地图基础上,基于A^(∗)算法规划全局最优路径,运用冗余点删除策略得到轨迹规划的参考航路点。考虑到船舶靠泊为动态过程,基于扩展动态窗口算法(EDWA)对船舶恒力阶段和减速阶段的靠泊轨迹进行预测,并引入比例积分微分(PID)控制方法调整船舶航向。对所有预测轨迹进行可行性检验后,利用考虑目标点、参考航路点和障碍物等约束的评价函数得到最优轨迹,其相对应的力作为船舶的控制输入。在下一个采样时间基于船舶当前的控制输入和运动状态重复以上步骤进行实时规划,直至船舶到达目标点。以日照港为仿真场景验证本文方法的可行性,结果表明,该方法能够在较短时间内引导船舶避开障碍物到达指定泊位,轨迹与最近障碍物的距离为144.1428 m,轨迹长度较传统A^(∗)+EDWA长47.26 m,但规划时间减少了55.12%,表明了本文方法的优越性。To optimize the trajectory planning problem of underactuated ship automatic berthing and avoid getting stuck in local optima,a real⁃time trajectory planning method considering the overall constraints of the ship kinematic model and obstacle constraints was proposed.Based on the gridded map,the A^(∗)algorithm was used to plan the global optimal path,and the redundant point deletion strategy was applied to obtain the reference waypoints for trajectory planning.Considering that ship berthing was a dynamic process,the extended dynamic window algorithm(EDWA)was used to predict the berthing trajectory of the ship during the constant force stage and deceleration stage,and the proportional integral derivative(PID)control method was introduced to adjust the ship’s heading.After conducting feasibility tests on all predicted traj⁃ectories,the optimal trajectory was obtained by using an evaluation function that considers constraints such as target points,reference waypoints,and obstacles,and the corresponding force was used as the control input for the ship.Repeat the above steps for real⁃time planning based on the current control input and motion state of the ship at the next sampling time until the ship reached the target point.The feasibility of the proposed method was verified by using the simulation scenario of Rizhao port.Results show that the proposed method can guide ships to avoid obstacles and reach the designated berth in a relatively short time,the distance between the trajectory and the nearest obstacle is 144.1428 m,and the trajectory length is 47.26 m longer than the traditional A^(∗)+EDWA,however,the planning time is reduced by 55.12%,which show the superiority of the proposed method.

关 键 词：欠驱动船舶 自动靠泊 轨迹规划 扩展动态窗口算法(EDWA) 比例积分微分(PID) 

分 类 号：U664.82[交通运输工程—船舶及航道工程] U665.26[交通运输工程—船舶与海洋工程]