一种考虑后向可达集的船舶自主避障方法  

A Ship Autonomous Obstacle Avoidance Method Considering Backward Reachable Set

作　　者：刘玠 黄亚敏[2] 文元桥[2] 黄亮[2] LIU Jie;HUANG Yamin;WEN Yuanqiao;HUANG Liang(Zhejiang Scientific Research Institute of Transport,Hangzhou 310023,China;Intelligent Transportation Systems Research Center,Wuhan University of Technology,Wuhan 430063,China)

机构地区：[1]浙江省交通运输科学研究院,杭州310023 [2]武汉理工大学智能交通系统研究中心,武汉430063

出　　处：《武汉理工大学学报（交通科学与工程版）》2024年第6期1244-1250,共7页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：国家自然科学基金青年基金项目(52001241);浙江省重点研发项目(2021C01010);新一代人工智能技术应用交通运输行业研发中心开放基金项目。

摘　　要：文中提出一种运用后向可达集构造船舶动态安全区域,并结合快速行进法(fast marching method,FMM)的船舶自主避障方法.以静态障碍物的空间位置及几何构型为输入,构造本船运动状态下静态障碍物的后向可达集,结合FMM得到船舶航行的最佳路径.该路径能在保证可靠安全的前提下节约运动成本,相对于一般的最优化路径具有可实时动态监测的功能.结果表明:该方法增强了传统FMM避障方法的可靠性.Combined with the fast moving method,an autonomous obstacle avoidance method for ships using backward accessible sets to construct dynamic safety areas of ships was proposed.Taking the spatial position and geometric configuration of static obstacles as input,the backward reachable set of static obstacles in the ship’s motion state was constructed,and the best navigation path of the ship was obtained by combining FMM.This path can save the movement cost on the premise of ensuring reliability and safety,and has the function of real-time dynamic monitoring compared with the general optimized path.The results show that this method enhances the reliability of the traditional FMM obstacle avoidance method.

关 键 词：后向可达集 快速行进法 船舶自主避障 路径规划 

分 类 号：U664[交通运输工程—船舶及航道工程]