基于改进动态窗口法的无人艇编队集结研究

Research on USV formation aggregation based on improved DWA algorithm

针对传统动态窗口法(DWA)中存在避障中陷入局部最优导致避障时间长、距离采样点不全面导致避障失败、对移动障碍避障效果差等问题,提出了一种适用于无人艇编队集结的改进动态窗口法。首先,通过修改采样窗口的判定规则与评价函数,保留更多的优秀轨迹,优化避障路径并缩短避障时间;其次,通过进一步完善对预轨迹全过程的障碍物距离计算,剔除碰撞轨迹,提高避障成功率;再次,通过引入障碍物运动轨迹预测模型,加强对移动障碍的避障能力。最后,基于该改进算法利用Matlab进行无人艇编队集结仿真实验,结果表明,提出的改进算法能提高无人艇避障能力且能引导无人艇完成编队集结任务。

An improved dynamic window method is presented to solve the problems of traditional DWA,such as long avoidance time due to falling into local optimum during obstacle avoidance,incomplete distance sampling points leading to obstacle avoidance failure,and poor effect on obstacle avoidance.First,by modifying the decision rules and evaluation functions of the sampling window,more excellent tracks are retained,obstacle avoidance paths are optimized,and obstacle avoidance time is shortened.Secondly,by further improving the obstacle distance calculation during the whole pre-trajectory process,the collision trajectory is eliminated and the success rate of obstacle avoidance is improved.Thirdly,the obstacle avoidance ability is enhanced by introducing the obstacle motion track prediction model.Finally,the simulation results of unmanned vehicle formation assembly based on the improved algorithm using Matlab show that the improved algorithm can improve the obstacle avoidance ability of unmanned vehicle and realize the formation assembly of unmanned vehicle.