无人水面艇路径规划

Path Planning of Unmanned Surface Vehicle

无人水面艇路径规划问题是一个多目标优化问题,它是关系到无人水面艇能否实现自主性的最基本问题之一。在分析无人水面艇路径规划问题的安全性约束、可航行约束、终点姿态约束和路径代价约束的基础上,定义了无人水面艇路径规划公式。采用"多方法组合"的思路,基于遗传算法、虚拟障碍法等方法设计了无人水面艇路径规划问题的求解方法。仿真试验结果表明,该方法可满足无人水面艇在复杂动态环境中路径规划的要求。最后分析指出,提出的无人水面艇路径规划公式和路径规划问题求解方法可拓展到无人水面艇群。

It is basic of the path planning for unmanned surface vehicle to fulfill its autonomy. The restrictions to the path planning of unmanned surface vehicle include the safety restriction,the shipping restriction,the stance restriction of the terminal and the path cost restriction,which defines the path planning of unmanned surface vehicle a multiple goals optimizing problem. After the path planning formula of unmanned surface vehicle is defined,a path planning method is designed based on the genetic algorithm,the suppositional obstacles method and so on,which follows the idea of the assembled methods,and is validated by the simulation experiments. At last,It is referred that the path planning formula and the path planning method can be expanded to unmanned surface vehicle group.