基于改进动态窗口算法的船舶局部路径规划  

Ship Local Path Planning Based on Improved Dynamic Window Algorithm

作　　者：胡梦杰 庄元[1,2] 郑元洲[1,2] 钱龙 刘欣宇 张远锋 HU Mengjie;ZHUANG Yuan;ZHENG Yuanzhou;QIAN Long;LIU Yinyu;ZHANG Yuanfeng(School of Navigation,Wuhan University of Technology,Wuhan 430063,China;Hubei Laboratory of Inland Shipping Technology,Wuhan 430063,China)

机构地区：[1]武汉理工大学航运学院,武汉430063 [2]武汉理工大学内河航运技术湖北省重点实验室,武汉430063

出　　处：《武汉理工大学学报（交通科学与工程版）》2024年第5期984-990,共7页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：国家自然科学基金(51979215,52171350)。

摘　　要：文中提出了一种基于改进DWA算法的船舶运动路径规划.该方法通过模糊控制方法制定模糊规则,并设计模糊控制器.在面对不同复杂动态环境时,可以动态调整自身评价函数的权重.设计了静态、动态障碍物两种场景下的仿真对比实验.结果表明:所提出的方法能适应各种复杂外界环境.A ship motion path planning based on improved DWA algorithm was proposed.In this method,fuzzy rules were formulated by fuzzy control method,and a fuzzy controller was designed.In the face of different complex dynamic environments,this method could dynamically adjust the weight of its own evaluation function.The simulation contrast experiments under static and dynamic obstacles were designed.The results show that the proposed method can adapt to various complex external environments.

关 键 词：动态窗口法 模糊控制 路径规划 

分 类 号：U698[交通运输工程—港口、海岸及近海工程]