基于集合制导和动态窗口约束的无人船自主动态避碰方法研究

Autonomous Dynamic Collision Avoidance for Unmanned Surface Vehicle under Set-based Guidance and Dynamic Window Constraints

针对无人船在未知海洋环境下的避碰问题,提出了一种基于集合制导和动态窗口约束的无人船自主动态避碰方法。为了使无人船能够在沿预先规划路径航行的同时规避障碍物,采用了一种基于集合制导算法的无人船航行模式切换策略。当满足一定条件时,该策略能够使无人船在路径跟随模式和避碰模式之间进行切换,以实现航迹跟踪控制与避碰路径规划相结合;同时考虑到船舶自身的操纵性能,设计了一种基于动态窗口约束的反应式避碰方法。仿真试验表明,在满足国际海上避碰规则的前提下,该方法能够使无人船在沿预设路径航行的同时,有效地规避障碍物。

An autonomous dynamic collision avoidance method under set-based guidance and dynamic window constraints is proposed to solve the collision avoidance problem of unmanned surface ship(USV)in unknown marine environment.In order to avoid obstacles while the USV can navigate along the pre-planned route,mode-switching strategy of USV based on set guidance algorithm is adopted.This method can make the USV switch between the path following mode and the collision avoidance mode to realize the combination of trajectory tracking control and collision avoidance path planning.Considering the maneuverability of the USV,a reactive obstacle avoidance method for unmanned surface vehicle based on dynamic window constraint is designed.Simulink results show that the method can avoid the obstacles effectively while USV navigates along the preset paths under the premise of satisfying the international regulations for preventing collision at sea.