摘要
人工势场法广泛地应用于无人艇的路径规划问题,但传统势场模型下所规划的路径并不具有最优性,无法满足无人艇的实际规划要求.针对此问题,文中提出了一种基于进化势场模型的无人艇路径规划算法.在势场模型中,引入势场路径评价方程和微分进化算法,以实现对势场模型的评估和优化;同时考虑到无人艇的最大转向角约束,提出平滑算法对势场路径进行二次优化.仿真结果验证了算法的有效性和可靠性.
Artificial potential field method is widely used in the path planning of unmanned surface vehicle,but the path planned under the traditional potential field model is not optimal and cannot meet the actual planning requirements of unmanned craft.In order to solve this problem,an unmanned vehicle path planning algorithm based on evolutionary potential field model was proposed.In the potential field model,the potential field path evaluation equation and differential evolution algorithm were introduced to realize the evaluation and optimization of the potential field model.Meanwhile,considering the maximum steering angle constraint of unmanned craft,a smoothing algorithm was proposed to optimize the potential field path twice.The simulation results verify the effectiveness and reliability of the algorithm.
作者
陈卓
茅云生
宋利飞
董早鹏
杨鑫
房新楠
CHEN Zhuo;MAO Yunsheng;SONG Lifei;DONG Zaopeng;YANG Xin;FANG Xinnan(Key Laboratory of High Performance Ship Technology,Wuhan University of Technology,Wuhan 430063,China;School of Transportation,Wuhan University of Technology,Wuhan 430063,China)
出处
《武汉理工大学学报（交通科学与工程版）》
2019年第1期113-117,124,共6页
Journal of Wuhan University of Technology（Transportation Science & Engineering）
基金
国家自然科学基金青年科学基金项目(51709214)
武汉理工大学自主创新基金项目(2017IVA006
2017IVA008)资助
关键词
无人艇
路径规划
势场模型
微分进化算法
路径最优化
最大转向角约束
unmanned surface vehicle
path planning
potential field model
differential evolution algorithm
path optimization
maximum steering angle constraint
