改进IRRT^(*)算法的水面船艇多目标动态路径规划  

Multi-objective dynamic path planning for surface vessels with improved IRRT^(*)algorithm

作　　者：于豪 崔奕山 Yu Hao;Cui Yishan(School of Marine Engineering,Jimei University,Xiamen 361000,China;Zhibang Robot Technology Co.,Ltd.,Heze 274001,China)

机构地区：[1]集美大学轮机工程学院,厦门361000 [2]智邦机器人科技有限公司,菏泽274001

出　　处：《仪器仪表学报》2025年第2期17-27,共11页Chinese Journal of Scientific Instrument

基　　金：山东省科技厅项目(2022C01246);国家大学生创新创业项目(202410390028)资助。

摘　　要：水面船艇在航行过程中动态路径规划对于保障航行安全性具有十分重要的意义。针对水面舰艇的多目标动态路径规划问题,提出了一种改进的IRRT^(*)算法,充分考虑水面舰艇独特的运动学约束特性以及自身船体、障碍物的体积大小,结合双向搜索机制,在起点与终点同时进行搜索,并为多目标点设置一种分级策略进行分级探索,显著提高了路径规划的效率,并可以较优的解决多目标路径规划时的最优效率问题。其次,通过引入动态KD树进行最近邻搜索,优化了路径搜索过程,并采用定期重建KD树减少查询节点时的检索深度,进一步地提高搜索效率。最后设计了较为实际地考虑船舶转弯角度和能耗的成本函数,融合人工势场法的思想,引入引力场和斥力增益系数作为局部避障的策略,并最终采用自适应三阶B样条曲线优化路径,提高了路径的平滑性和水面船艇的实时避障能力。通过在Python环境下的模拟实验和实际海上测试,结果验证了该算法在计算时间、路径长度、避碰性能和路径转弯次数等方面的相对于目前已知算法的优势。研究成果为复杂水域中的高效路径规划提供了新的思路,助力水面舰艇自主导航技术的发展。Dynamic path planning of surface boats during navigation is of great significance to ensuring navigation safety.In view of the multi-target dynamic path planning of surface ships,puts forward an improved IRRT^(*)algorithm,fully considering the unique kinematic constraints of surface ships and the size of its hull,obstacles,the two-way search mechanism,search at the starting point and set a grading strategy,significantly improve the efficiency of path planning,and can better solve the optimal efficiency of multi-target path planning.Second,the path search process is optimized by introducing dynamic KD tree for nearest neighbor search,and reconstructing the KD tree regularly reduces the retrieval depth of the query nodes to further improve the search efficiency.Finally,the design is actually considering the cost function of ship turning angle and energy consumption,fusion the idea of artificial potential field method,introducing the gravitational field and repulsion gain coefficient as a local obstacle avoidance strategy,and finally adopt the adaptive third-order B spline curve optimization path,improve the smoothness of the path and real-time obstacle avoidance ability of water boats.Through simulation experiments and actual offshore tests in the Python environment,the results demonstrate the advantages of the algorithm in computing time,path length,performance of collision avoidance,and number of path turns.The research results provide a new idea for efficient path planning in complex waters,and contribute to the development of autonomous navigation technology of surface ships.

关 键 词：改进IRRT^(*) 多目标动态路径规划 水面船艇 双向连接 三阶B样条曲线优化 动态KD树 

分 类 号：TH166[机械工程—机械制造及自动化]