改进人工势场法的无人船航行自动避障系统

Design of autonomous obstacle avoidance system for unmanned ship navigation with improved artificial potential field method

以保护无人船航行安全为目的,设计改进人工势场法的无人船航行自动避障系统。该系统利用信息感知与处理模块将无人船的航行计划、气象数据存储岸基础数据库后,通过卫星通信方式将其传输到船端数据库内,再通过反馈模块获取无人船航向、航速和航行环境图像后,通过信息感知与处理模块内的感知信息融合单元进行融合处理并存储到船端数据库内;决策模块通过调取船端数据内信息后,识别无人船航行环境中的障碍物并使用改进人工势场的碰撞路径规划方法规划无人船航行路径,然后将路径规划结果发送到避障控制执行模块内。该模型通过无人船载控单元控制无人船动力体系,实现无人船航行自动避障。实验表明,该系统运行稳定性较佳,可有效控制无人船躲避航行环境中的障碍物,应用效果较为显著。

With the aim of protecting the safety of unmanned ship navigation,an automatic obstacle avoidance system for unmanned ship navigation is designed and improved using the artificial potential field method.The system uses an information perception and processing module to store the navigation plan and meteorological data of unmanned ships in the shore basic database,and then transmits them to the shipside database through satellite communication.After obtaining the unmanned ship's heading,speed,and navigation environment images through the feedback module,the perception information fusion unit in the information perception and processing module is used for fusion processing and stored in the shipside database;The decision-making module identifies obstacles in the unmanned ship's navigation environment by retrieving information from the ship's data,and plans the unmanned ship's navigation path using an improved artificial potential field collision path planning method.The path planning results are then sent to the obstacle avoidance control execution module,which controls the unmanned ship's power system through the unmanned ship's control unit to achieve automatic obstacle avoidance during unmanned ship navigation.The experiment shows that the system has good operational stability and can effectively control unmanned ships to avoid obstacles in the navigation environment,with significant application effects.