考虑操纵约束的无人艇海域全覆盖路径规划  

Sea area full-coverage path planning for unmanned surface vehicle considering maneuvering constraints

作　　者：王宁[1] 武慧慧 张宇航 WANG Ning;WU Huihui;ZHANG Yuhang(Marine Engineering College,Dalian Maritime University,Dalian 116026,China;College of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China)

机构地区：[1]大连海事大学轮机工程学院,辽宁大连116026 [2]大连海事大学船舶电气工程学院,辽宁大连116026

出　　处：《中国舰船研究》2024年第6期210-218,共9页Chinese Journal of Ship Research

基　　金：国家高层次人才支持计划项目资助(SQ2022QB00329);国家自然科学基金资助项目(U23A20680,52271306);国防基础科研计划一般项目基础前沿寻宝项目(JCKY2022410C013);中央引导地方科技发展专项资金项目(2023JH6/100100010);辽宁省“兴辽英才计划”领军人才项目资助(XLYC2202005);大连市科技创新基金重大基础研究项目资助(2023JJ11CG009);中央高校基本科研业务费专项资金资助项目(3132023501)。

摘　　要：[目的]针对无人艇覆盖作业任务面临的路径规划运动约束,提出一种考虑无人艇操纵运动特性的海域全覆盖路径规划方法。[方法]对于无障碍海域,利用多边形海域覆盖方法生成覆盖路径;对于障碍海域,采用梯形分解法将目标区域分解成若干子区域,然后利用遗传算法优化各子区域间的链接路径;基于无人艇操纵运动模型的预报轨迹集合,优化转弯路径及与其相适应的参考螺旋桨转速,最终实现目标海域全覆盖。[结果]仿真结果显示,所提方法不仅能够在障碍海域实现100%的路径覆盖,而且转弯路径符合无人艇操纵运动特性要求。[结论]所提海域全覆盖路径规划方法能够生成满足无人艇运动特性的全覆盖路径,在智慧渔业、海洋探测和海洋通信中继等领域具有一定的实用价值。[Objective]To overcome the dynamic constraints faced by an unmanned surface vehicle(USV)in sea area coverage tasks,a coverage path planning scheme is constructed that considers the motion characteristics of USVs.[Methods]For obstacle-free environments,polygon region coverage path planning is used to generate coverage paths.For obstructed or restricted environments,trapezoidal decomposition is adopted to decompose the target area into several sub-regions,and a genetic algorithm(GA) is used to optimize the link path between each sub-region.Based on the predicted trajectory set of the USV maneuvering motion model,the turning path and its corresponding reference propeller speed are optimized,and the full coverage of the target sea area is achieved.[Results]The simulation results show that the proposed method can achieve 100%path coverage in sea areas containing obstacles,with each turning path satisfying the maneuvering motion characteristics of the USV.[Conclusion]The full-coverage path planning scheme proposed herein can generate a path that satisfies the maneuvering constraints of the USV,giving it obvious practical value in the fields of intelligent fishery,marine exploration,and marine communication relay.

关 键 词：无人艇 运动规划 路径规划 操纵运动特性 海域全覆盖 

分 类 号：U664.82[交通运输工程—船舶及航道工程]