面向观测任务的无人艇路径规划策略

Unmanned surface vessel path planning strategy for observation task

随着无人技术和机器人技术的发展,作为其重要环节的全覆盖路径规划技术越发关键。与普通的机器人全覆盖路径规划不同,由于海况、天气等环境因素的影响,水面全覆盖路径规划需要考虑路径完成时间、路径平滑度、路径安全性等问题。目前对于机器人全覆盖路径规划问题已经有许多算法,如基于A星算法的路径规划、基于改进蚁群算法的路径规划、基于回溯法的路径规划,但这些算法在水面路径规划上存在路径转弯点过多的问题。本文针对一种水面全覆盖路径规划问题,提出一种路径规划算法,通过全局规划和局部规划两阶段确定路径。全局规划路径确定大致运动路线,保证覆盖率;局部规划在使用传感器探测到目标后,聚类处理并根据目标规划出新路径,保证路径的安全性。

With the development of unmanned vehicle and robot technology,full coverage path planning technology,which is an important part of it,has become increasingly critical.Due to the influence of sea conditions,weather and other environmental factors,the path planning of full water surface coverage needs to consider the path completion time,path smoothness,path safety and other issues.This article proposes a path planning algorithm for a full-coverage path planning problem.The path is determined by two stages:global planning and local planning.The global planning path determines the approximate motion route to ensure coverage.Local planning uses sensors to detect the target.Then clustering processing is performed and a new path is planned according to the goal to ensure the security of the path.