水面无人艇路径规划的现状与挑战

Current Status and Challenges of Unmanned Surface Vehicle Path Planning

近年来,随着人工智能技术的发展,水面无人艇(USV)成为了海洋工程的研究热点,而路径规划问题一直都是无人船艇智能化进程中的一项关键技术。文章首先介绍了现有路径规划的环境建模方法,并对比了各种方法的特点。根据无人艇对环境信息的获取程度,分别从全局路径规划、局部路径规划、近程反应式危险规避和运动规划等4个维度综述了路径规划方面的最新研究成果,总结了学术界对各种算法改进的切入点。最后探讨了当前无人艇路径规划领域面临的挑战和研究重点,未来对USV路径规划研究应该在实际海况数据的利用、控制器协同、COLREGS的融合、复杂海况的规避、碰撞危险评估模型的完善、路径评价体系的建立等方面重点开展。

In recent years,with the development of AI technology,unmanned surface vehicle(USV) has become a popular research field in ocean engineering,and path planning has always been a key technology in the process of unmanned ship intelligence.The existing path planning environment modeling methods are first introduced,and the characteristics of various methods are compared.According to the known degree of environmental information of unmanned surface vehicles,the latest researches are reviewed from 4 categories:global path planning,local path planning,collision avoidance and motion planning.Also,the improvement methods of the algorithms are summarized.Finally,the current challenges and future research focus in the field of USV path planning are discussed.The future research on USV path planning should focus on the utilization of actual sea state data,controller coordination,COLREGs fusion,avoidance of complex sea states,improvement of collision risk assessment model,establishment of path assessment system,etc.