基于速度势场的动态船舶避碰路径建模  

Velocity potential field based-modeling for ship's dynamic collision avoidance

作　　者：孙建明[1] 陈大伟 王仁强[1] 孟洋然 SUN Jianming;CHEN Dawei;WANG Renqiang;MENG Yangran(Navigation College,Jiangsu Maritime Institute,Nanjing 211170,China)

机构地区：[1]江苏海事职业技术学院航海技术学院,江苏南京211170

出　　处：《舰船科学技术》2024年第23期37-41,共5页Ship Science and Technology

摘　　要：为解决运动体主动改向进行避碰的问题,提出带有速度势场的无人自主船舶避碰动态路径规划方法。针对船舶的MMG模型,进行螺旋桨的增益和控制舵增益假设。引入人工势场算法,将无人船与障碍物和无人船与目标点间的相对速度融入到势场中,构建距离-速度势场模型。结合动、静态障碍物共存的复杂多变水域条件,对无人自主船舶避碰动态路径规划进行实验。由实验结果可知,该模型解决以距离为要素构建的人工势场法不能使运动体主动改向进行避碰的问题,且无人自主船舶能以主动改变航向的方式快速地避离障碍物。A dynamic path planning method for unmanned autonomous ship collision avoidance with velocity potential field is proposed,which solves the problem that the artificial potential field method constructed with distance as an element cannot make the moving body actively redirect to avoid collision.In the artificial potential field,the relative speed between the unmanned ship and the obstacle,and the relative speed between the unmanned ship and the target point are integrated into the potential field,and the distance-speed potential field model is constructed.The method is applied to the dynamic path planning experiment of unmanned autonomous ship collision avoidance in complex and changeable waters where dynamic and static obstacles coexist.The results show that unmanned autonomous ships can quickly avoid obstacles by actively altering her course,and the algorithm conforms to the actual collision avoidance engineering.

关 键 词：避碰 动态路径规划 速度势场 

分 类 号：U675.79[交通运输工程—船舶及航道工程] TP29[交通运输工程—船舶与海洋工程]