风帆构型波浪滑翔器局部路径规划研究

Local Path Planning of the Sailboat Architecture Wave Glider

风帆构型波浪滑翔器(sailboat architecture wave glider,SWG)是一种新型单体式欠驱动海洋观测平台。相较于传统波浪滑翔器,风帆构型波浪滑翔器以海洋可再生能源——风能与波浪能为动力,克服了机动性能弱和抗流能力差等缺点,有效实现持续动能转换,执行面向大范围海域快速巡航等任务。考虑到风帆构型波浪滑翔器对风场环境的依赖性,传统路径规划方法对风帆构型波浪滑翔器的适用性很低,因此提出了一种适用于风帆构型波浪滑翔器在风场环境下的局部路径规划算法。所提算法通过改进引力势场与斥力势场,克服了传统人工势场算法中机器人无法到达靠近障碍物的目标点和碰撞远离目标点的障碍物的缺陷。所提算法引入一种风势场,使所提算法针对不同风场规划出不同的路径,并且规划路径满足风帆构型波浪滑翔器的运动学约束。最后通过MATLAB仿真和海试实验,验证了所提出的局部路径规划算法对风帆构型波浪滑翔器的适用性。

The sailboat architecture wave glider(SWG) is a new type of single body underactuated ocean observation platform.Compared with traditional wave gliders,the SWG is powered by marine renewable energy:wind energy and wave energy.It overcomes the shortcomings of weak maneuverability and poor resistance to currents,effectively achieves continuous kinetic energy conversion,and performs tasks such as rapid cruising for a wide range of sea areas.Considering the dependence of the SWG on wind field environment,traditional path planning methods are not applicable to the SWG.Therefore,a local path planning algorithm for the SWG was proposed in the wind field environment.By improving the attractive potential field and repulsive potential field,the proposed algorithm overcomes the defects of traditional artificial potential field algorithm that the robot cannot reach the target point near the obstacles and may collide with the obstacles far away from the target point.In addition,a wind potential field was introduced into the proposed algorithm.The proposed algorithm can plan different paths for different wind fields,and the planned paths meet the kinematic constraints of the SWG.Finally,the applicability of the proposed local path planning algorithm for the SWG was verified by MATLAB simulation and sea trial.