基于港口环境的无人艇路径规划算法  

Path Planning Optimization Technology for USV Based on Port Environment

作　　者：周效国[1] 夏海波 赵子翔 程泽楷 ZHOU Xiaoguo;XIA Haibo;ZHAO Zixiang;CHENG Zekai(School of Naval Architecture and Ocean Engineering,Jiangsu University of Science and Technology,Zhenjiang 212100,Jiangsu,China)

机构地区：[1]江苏科技大学船舶与海洋工程学院,江苏镇江212100

出　　处：《船舶工程》2024年第12期101-109,共9页Ship Engineering

摘　　要：针对无人艇在港口环境的传统A*路径规划算法存在的转向角过大、离障碍物过近、拐点数多、航行效率低等问题,提出一种面向实际港口环境的改进A*路径规划算法。该算法将传统A*算法的8邻域搜索拓展为32邻域搜索,从而缩短航行距离;利用动态调整启发式函数,提高搜索效率;加入安全阈值判断,使航路与障碍物间保持一定的安全距离,解决了传统A*算法沿障碍物边缘搜索安全性较差的问题;对原路径进行二次优化,提取关键节点组成新的航行路径,解决了节点过多、航行效率低的问题;使用贝塞尔曲线优化,将曲折的航线变为光滑的航线,使无人艇的航路更平滑且更易跟随。最后在MATLAB软件中绘制不同港口环境的栅格地图进行仿真对比,结果表明改进A*算法可以有效改善原始算法存在的问题。Considering the problems of the traditional A*path planning algorithm for unmanned vessels in port environment,such as too large turning angle,too close to obstacles,many turning points and low navigation efficiency,an improved A*path planning algorithm for actual port environment is proposed.The algorithm expands the 8 neighborhood search of the traditional A*algorithm to 32 neighborhood search,so as to shorten the navigation distance;uses the dynamic adjustment of the heuristic function to improve the search efficiency;adds the safety threshold judgment to maintain a certain safe distance between the route and obstacles,solving the problem of poor safety along the edge of the traditional A*algorithm;optimizes the original path twice to extract the key nodes to form a new navigation path,solving the problem of too many nodes and low navigation efficiency;uses the Bessel curve optimization to transform the tortuous route into a smooth route,making the route of the unmanned vessel smoother and easier to follow.Finally,the grid maps of different port environments are drawn in MATLAB for simulation comparison.The results show that the improved A*algorithm can effectively improve the problems existing in the original algorithm.

关 键 词：港口 无人艇 路径规划 改进A*算法 

分 类 号：U671.99[交通运输工程—船舶及航道工程]