融合改进A*与VO算法的船舶避碰策略研究  

Research on ship collision avoidance strategy based on improved A* and VO algorithm

作　　者：廖功铭 任鸿翔[1] 王德龙[1] 梁霄 LIAO Gongming;REN Hongxiang;WANG Delong;LIANG Xiao(Navigation College,Dalian Maritime University,Dalian 116026,China;College of Shipbuilding and Ocean Engineering,Dalian Maritime University,Dalian 116026,China)

机构地区：[1]大连海事大学航海学院,辽宁大连116026 [2]大连海事大学船舶与海洋工程学院,辽宁大连116026

出　　处：《舰船科学技术》2025年第3期32-38,共7页Ship Science and Technology

基　　金：国家自然科学基金资助项目(52071312);交通运输行业重点科技项目(2022-ZD3-035);辽宁省应用基础研究计划项目(2023JH2/101300144);广西重点研发计划(AB22080106);大连市科技创新基金项目(2022JJ12GX035)。

摘　　要：针对船舶在复杂海域下的静态路径规划及动态避碰问题,提出一种融合改进A*算法与VO算法的船舶避碰策略。通过引入栅格障碍占比改进启发函数,并添加安全距离参数和3次折线优化等方法提高了A*算法效率,为船舶规划一条安全、高效的航行路径。针对多船会遇,提出基于四元船舶领域模型的速度障碍法,并融合动态窗口法对速度区间进一步约束。最后通过仿真实验验证算法在多船避碰中的有效性。For the static path planning and dynamic collision avoidance of ships in complex maritime environments,a ship collision avoidance strategy that integrates improved A*algorithm and VO algorithm is proposed.By incorporating grid obstacle occupancy ratio to enhance the heuristic function,and introducing safety distance parameters and third-order spline optimization to improve the efficiency of the A*algorithm,a safe and efficient ship path is planned.For encounters in-volving multiple ships,a velocity obstacle method based on quaternion ship domain model is proposed,and the dynamic window method is integrated to further constrain the speed interval.Finally,the effectiveness of the algorithm in multiple ship collision avoidance is verified through simulation experiments.

关 键 词：船舶避碰 A*算法 四元船舶领域 速度障碍法 

分 类 号：U675.96[交通运输工程—船舶及航道工程]