基于改进人工势场法的无人船动态路径规划算法研究

Research into Dynamic Path Planning Algorithm of Unmanned Ship Based on Improved Artificial Potential Field Method

针对无人船在复杂障碍物环境中难以及时、有效避碰的问题,提出一种基于改进人工势场法的无人船动态路径规划算法。在传统人工势场法的基础上,结合碰撞危险程度和船舶动力学约束进行算法改进,通过虚拟引力和偏航引力的引入,避免了局部振荡和目标不可达现象的发生,并通过仿真实验对其进行了验证,该算法具备路径平滑、计算速度快、动态避让距离短、船舶安全航行等特点。

Aiming at the problem that unmanned ship is difficult to avoid collision timely and effectively in complex obstacle environment,a dynamic path planning algorithm of unmanned ship based on improved artificial potential field method is proposed.Based on the traditional artificial potential field method,the algorithm is improved by combining the collision danger degree and ship dynamics constraint.By introducing virtual gravity and yaw gravity,the phenomenon of local oscillation and unreachable target is avoided.The simulation experiments are carried out to demonstrate the algorithm.The algorithm has the characteristics of smooth path,fast calculation speed,short dynamic avoidance distance and safe navigation,etc..