带拖曳线列阵水面无人艇的避障方法研究

Velocity obstacle collision avoidance approach for USV with towed array

针对带有拖曳线列阵的水面无人艇避障问题,提出了基于速度障碍法的无人艇避障方法.对带拖曳线列阵无人艇进行建模,分析了带有拖曳线列阵的水面无人艇避障问题,通过设计改进人工势场法和速度障碍法,实现带有拖线阵的水面无人艇整体有效避障.仿真结果表明:速度障碍法能降低无人艇避障时拖线阵的有效张力峰值,保持良好的阵形形态,更好地保障阵列的时空安全.

For the collision avoidance of unmanned surface vessel(USV) with towed array,an obstacle avoidance method for unmanned boats was presented based on velocity obstacle method.Firstly,the joint model of USV with towed array was established,and the collision avoidance problems for USV with towed array were analyzed.The modified artificial potential field and velocity obstacle methods were designed,to make the joint vessel and array avoid collision.Simulations show that velocity obstacle approach can reduce the effective tensions of array,keep excellent array shapes,implements better array safety in both space and time domains.