摘要
无人艇(USV)避碰技术是USV的研究热点之一,是实现无人艇海上自主航行、在未知海域执行任务的关键技术。文章旨在回顾和总结无人艇避碰的现有技术,以及展望其未来的发展趋势。首先介绍了无人艇环境感知技术,并比较了各技术之间的优劣;其次介绍了局部路径规划算法,并对相关算法进行比较和提出改进方法;然后介绍了无人艇的控制方法;最后总结了国内外当前无人艇在避碰技术方面的不足和未来避碰技术的研究方向。
Collision avoidance technology of Unmanned Surface Vehicle(USV)is one of the research hotspots of USV. It is the key technology to realize USV autonomous navigation and perform tasks in unknown waters. The purpose of this paper is to review and summarize the existing technology of USV collision avoidance and look forward to its future development trend. Firstly,this paper introduces the environment perception technology of USV,and compares the advantages and disadvantages of each technology. Secondly,the local path planning algorithm is introduced,and the related algorithms are compared and improved. Then the heading control of USV is introduced. Finally,the shortcomings of collision avoidance technology of USV at home and abroad and the research direction of collision avoidance technology in the future are summarized.
作者
姜登耀
苑明哲
刘继海
段勇
JIANG Dengyao;YUAN Mingzhe;LIU Jihai;DUAN Yong(School of Information Science and Engineering,Shenyang University of Technology,Shenyang 110870;Guangzhou Institute of Industrial Intelligence,Guangzhou 510000;Academicians Experts Workstation,Guangzhou Institute of Industrial Intelligence,Guangzhou 510000)
出处
《舰船电子工程》
2022年第12期24-29,69,共7页
Ship Electronic Engineering
基金
广东省重点领域研发计划项目“面向粤港澳大湾区重点航道灾后监测的无人艇-机跨域协同装备研制及应用示范”(编号:2020B1111010002)
面向2035年广东省海洋产业发展战略研究(编号:2021-GD-2)资助。
关键词
无人艇
避碰
环境感知
局部路径规划
航向控制
unmanned surface vehicle
preventing collision
environmental perception
local path planning
heading control
