基于规避知识库的无人艇智能避障模型构建

Construction of Intelligent Obstacle Avoidance Model for Unmanned Vessels Based on Avoidance Knowledge Base

智能避障技术是无人艇自主航行的关键部分,论文以国际海事规则为基础,提取了相关危险避障规则,给出了合理的避障知识推理流程,构建了避障知识库,最后采用A星算法进行智能避障决策得到全局路径,为无人艇智能避障技提供了一条新的技术途径。

Intelligent obstacle avoidance technology is the key part of autonomous navigation of UAV.Based on international maritime rules,this paper extracts relevant dangerous obstacle avoidance rules,gives reasonable knowledge process of risk obstacle avoidance, constructs risk obstacle avoidance knowledge base,and finally uses A-star algorithm to make intelligent risk obstacle avoidance decision to get the global path,which provides a new technical way for intelligent obstacle avoidance of UAV.