一种基于多线激光雷达的无人艇避障系统设计

Design of Obstacle Avoidance System for Unmanned Boat Based on Multi-layer Laser Radar

为了实现无人艇在复杂的海洋环境下能够顺利地躲避障碍物,并按照相应的设计路线进行自主航行的目的,完成了一种基于多线激光雷达的海上无人艇软硬件设计。利用多线激光雷达获得周围环境中的连续数据和无人艇实时的位姿信息,建立无人艇所在位置的坐标系,对无人艇周围环境中的障碍物点云数据进行过滤、聚类和分割处理。在角度与距离上同时对障碍物进行分类,判断每个角度中障碍物的占比是否小于预设阈值,使用改进的A*算法对无人艇路径进行规划,使无人艇按照规定的路线航行。

In order to let the unmanned boat smoothly avoid obstacles in complex marine environment and carry out autonomous navigation according to the design route,multi-layer laser radar-based design of software and hardware for an unmanned marine boat is completed.A coordinate system of the unmanned boat is established,and cloud data about the obstacle points around the unmanned boat are filtered and gathered.Obstacles are classified according to the angle and distance,and a threshold of the proportion of obstacles in each angle range is preset.The improved A*algorithm is applied to plan the path of the unmanned boat according to the prescribed route.