无人水面艇局部路径规划算法研究综述

Review on the research of local path planning algorithms for unmanned surface vehicles

路径规划是无人水面艇(USV)的研究热点之一,是实现USV无人化、自主化、智能化的关键技术。针对USV局部路径规划问题,从路径搜索与轨迹优化这两个层面,分别阐述各种算法的特点。结合近年来最新研究成果,深入分析各种算法的特性及不足,总结归纳算法为适应USV运动特性而进行的改进。最后,对USV局部路径规划的发展趋势进行简要展望,以为未来该领域的研究提供一定的思路。

Path planning is one of the research hotspots of unmanned surface vehicles(USVs) and a key technology for realizing their autonomy and intelligence. Aiming at the problem of local path planning for USVs,this paper elaborates on the application of various algorithms at the two levels of path search and trajectory optimization, introduces the latest research results in recent years and carries out an in-depth analysis of the characteristics and deficiencies of various algorithms. It then summarizes an improved method to adapt the algorithm to the motion characteristics of USVs, and finally gives a brief outlook on the development trends of local path planning for USVs, providing some ideas for future research in this field.