基于改进动态窗口法的无人艇动态避障方法研究  

Research on dynamic obstacle avoidance method of unmanned surface vehicle on improved dynamic window approach

作　　者：唐意成 TANG Yicheng(Shenyang Ligong University,Shenyang 110159,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China)

机构地区：[1]沈阳理工大学,辽宁沈阳110159 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016

出　　处：《通信与信息技术》2025年第2期23-27,共5页Communication & Information Technology

基　　金：辽宁省兴辽英才计划资助项目(项目编号:XLYC1902032);辽宁省自然科学基金项目(项目编号:NO.2021-MS-035);机器人学国家重点实验室项目(项目编号:2021-Z11L02)。

摘　　要：针对传统动态窗口法(Dynamic Window Approach,DWA)无人艇(Unmanned Surface Vehicle,USV)与动态障碍物避障时距离较近,存在碰撞风险情况下无人艇在传统算法策略控制下的运动方向会朝着障碍物运动方向偏移,导致避碰效果不佳且碰撞风险较大的问题,文章采用改进动态窗口法进行避碰策略设计。首先,通过碰撞危险度实时计算无人艇与障碍物的最短会遇距离,结合速度障碍法与碰撞危险度确定避碰时机,融合最短会遇距离改进障碍物距离评价函数以实现最优避障轨迹的选取;其次,设计避障安全评价函数,以得到无人艇最优避障角度的求解。实验结果表明,改进动态窗口法能够避碰,效果更优、避碰安全性能更高。Considering that the traditional dynamic window approach unmanned surface vehicle has a relatively close distance when avoiding dynamic obstacles,In the case of collision risk,the movement direction of unmanned surface vehicle under the control of tradi⁃tional algorithm strategy will shift towards the direction of obstacle movement,which leads to the problem of poor collision avoidance ef⁃fect and greater collision risk.In this paper,the improved dynamic window approach is used to design collision avoidance strategy.First⁃ly,the shortest encounter distance between the unmanned surface vehicle and the obstacle is calculated in real time by collision risk,and the collision avoidance time is determined by combining velocity obstacle method and collision risk.The obstacle distance evaluation function is improved by combining the shortest encounter distance to achieve the optimal obstacle avoidance trajectory selection.Then,the obstacle avoidance safety evaluation function is designed to obtain the solution of the optimal obstacle avoidance Angle of unmanned craft.The experimental results show that the improved dynamic window method can avoid collision,and the effect is better and the safety performance is higher.

关 键 词：改进动态窗口法 最短会遇距离 避障安全评价函数 避碰 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]