欠驱动无人船全局轨迹规划方法研究  

Research on Global Trajectory Planning Method of Underactuated Unmanned Vessel

作　　者：姚凤翔 黄振 褚天仁 何红坤 张海华[1,2] 许凯玮 时英玉 YAO Fengxiang;HUANG Zhen;CHU Tianren;HE Hongkun;ZHANG Haihua;XU Kaiwei;SHI Yingyu(China Ship Science Research Center,Wuxi 214028,China;Lianyungang Center of Deep Sea Technology and Science the Taihu Lake Laboratory,Lianyungang 222000,China;Jiangsu Ocean University,Lianyungang 222005,China)

机构地区：[1]中国船舶科学研究中心,江苏无锡214028 [2]深海技术科学太湖实验室连云港中心,江苏连云港222000 [3]江苏海洋大学,江苏连云港222005

出　　处：《舰船电子对抗》2024年第5期26-31,100,共7页Shipboard Electronic Countermeasure

摘　　要：针对大范围水域内传统全局轨迹规划算法收敛速度慢的问题,提出了基于高效收敛随机树与样条插值的欠驱动无人船全局轨迹规划方法。首先,引入目标区域偏置采样、动态步长扩展以及双向搜索策略,显著缩短渐近最优航路点的规划时间。其次,采用B样条插值技术拟合以上航路点,生成一条参数化路径,再利用期望速度与参数导数得到平滑轨迹,便于无人船跟踪。最后,开展综合的仿真研究,结果表明该方法在收敛速度上明显优于传统轨迹规划方法,且在规划轨迹的引导下,无人船能够安全、稳定地航行。Aiming at the problem of slow convergence speed of traditional global trajectory planning algorithms in large-scale water areas,a global trajectory planning method for underactuated unmanned vessel based on efficient convergence random trees and spline interpolation is proposed.Firstly,the introduction of target area bias sampling,dynamic step size expansion and bidirectional search strategy significantly shortens the planning time for asymptotically optimal waypoints.Secondly,B-spline interpolation technology is used to fit the above waypoints,and a parameterized path is generated,then the expected velocity and parameter derivatives are used to obtain a smooth trajectory,which is convenient for unmanned vessel to track.Finally,comprehensive simulation studies are conducted,and the results shows that this method significantly outperforms traditional trajectory planning methods in terms of convergence speed,and under the guidance of planned trajectories,unmanned vessel can navigate safely and stably.

关 键 词：欠驱动无人船 航路点规划 B样条插值 参数化路径 平滑轨迹 

分 类 号：U664.82[交通运输工程—船舶及航道工程]