基于优化人工势场法的无人水面艇路径规划  

Path planning of unmanned surface vehicles based on optimized artificial potential field method

作　　者：顾潮宏 冯友兵[1] 仲伟波[1] 蔡立涛 GU Chaohong;FENG Youbing;ZHONG Weibo;CAI Litao(Ocean College,Jiangsu University of Science and Technology,Zhenjiang 212003,China)

机构地区：[1]江苏科技大学海洋学院,江苏镇江212003

出　　处：《舰船科学技术》2025年第5期126-131,共6页Ship Science and Technology

基　　金：江苏省研究生实践创新计划(SJCX23_2140)。

摘　　要：人工势场法因其平滑的路径被广泛应用于解决水面无人艇路径规划问题,但人工势场法与无人艇的结合会出现转向角过大、航迹不可控、局部最小值问题。本文研究一种基于视线法的人工势力场法,利用视线法确定出各期望航迹点的位置,通过目标点引力与障碍物斥力实现避障;修正新定义的引力点函数和障碍物斥力函数,使其更加适用于期望航迹点的避障。仿真结果表明,改进后的算法在多障碍物与大型障碍物环境中的航迹偏差分别降低了85.61%、13.2%,艏向角变化分别降低了59.52%、17.3%,且能够引导无人艇摆脱局部最小值环境。优化后的人工势场法有着更强的路径保持能力,更小的避障角度需求,对无人艇的操控性能要求也更低,大大提高了无人艇的行驶安全性,具有一定的实际应用价值。The artificial potential field method is widely used to solve the path planning problem of unmanned surface vehicle(USV)because of its smooth path.However,the combination of artificial potential field method and USV will cause problems such as excessive steering angle,uncontrollable track and local minimum.In this paper,an artificial force field method based on line of sight method is studied.The position of each desired track point is determined by line of sight meth-od,and obstacle avoidance is realized by the attraction of target point and the repulsion of obstacles.The newly defined at-traction point function and obstacle repulsion function are modified to make them more suitable for the obstacle avoidance of the desired track point.The simulation results show that the track deviation of the improved algorithm is reduced by 85.61%and 13.2%,and the change of the heading angle is reduced by 59.52%and 17.3%respectively in the environment of mul-tiple obstacles and large obstacles,and the improved algorithm can guide the UsV to get rid of the local minimum environ-ment.The optimized artificial potential field method has stronger path maintaining ability,smaller obstacle avoidance angle demand,and lower control performance requirements for USV,which greatly improves the driving safety of USV and has certain practical application value.

关 键 词：人工势场法 避障 无人水面艇 

分 类 号：U675.73[交通运输工程—船舶及航道工程]