基于动态窗口法的无人艇局部路径规划

Local path planning of unmanned vehicle based on dynamic window method

本文设计了一种基于动态窗口法的无人艇局部路径规划方法。首先建立无人艇运动学模型,结合艇体机动性能给出无人艇运动方程。然后根据无人艇在短时间间隔内能达到的速度设置搜索空间,进而组成动态窗口。在动态窗口中确定速度产生的安全轨迹,设置动态窗口法轨迹评价函数选出下一时刻无人艇航行的最优轨迹,并在Matlab中进行仿真验证。结果显示,本文所设计基于动态窗口法的无人艇局部路径方法可以有效结合水面无人艇运动学参数,并充分考虑避碰规则以及障碍物因子,在其趋向目标点的同时也有效躲避障碍物,提高水面无人艇的自主避障能力。

In this paper,a local path planning method of unmanned surface vessel based on dynamic window method is designed.Firstly,the kinematics model of unmanned vessel is established,and motion equation of unmanned vessel is given combined with maneuver performance of hull.The search space is set according to the speed that the unmanned vessel can reach in a short time interval,and a dynamic window is formed.The safety track generated by speed is determined in dynamic window.The trajectory evaluation function of dynamic window method is set to select the optimal trajectory of unmanned vessel at the next moment,and the simulation is carried out in Matlab.The results show that the unmanned vessel local path planning method based on dynamic window method can effectively combine the unmanned surface vessel kinematics parameters,fully consider the collision avoidance rules and obstacle factors,and make the vessel effectively get to the target in the meanwhile avoid obstacles,thus improve the ability of autonomous obstacle avoidance of unmanned surface vessel.