基于模糊改进人工势场法的无人船路径规划研究

Research on path planning of unmanned ship based on fuzzy improved artificial potential field method

自主、高效巡航是对无人船提出的基本要求,为满足这一要求,需要为无人船配备路径规划系统。通过该系统,能够在无人船遇到障碍物时重新规划路径,使无人船避开障碍物,顺利到达目的地,完成任务。人工势场法是路径规划常用的一种方法,实际应用中发现该方法存在不足,为满足无人船路径规划需要,对人工势场法进行模糊改进。

Autonomous and efficient cruises are the basic requirements for unmanned ships.To meet this requirement,it is necessary to equip the unmanned ships with a path planning system.Through this system,the path can be re-planned when the unmanned ship encounters an obstacle,so that the unmanned ship can avoid the obstacle,reach the destination smoothly,and complete the task.The artificial potential field method is a commonly used method for path planning.In practical applications,it has been found that this method has shortcomings.In order to meet the needs of unmanned ship path planning,the artificial potential field method should be ambiguously improved.