基于细菌避障策略的无人艇集群自主巡航方法

Autonomous cruise method of unmanned surface vessles cluster based on bacterial obstacle avoidance strategy

针对无人艇集群执行巡航任务中的避障问题,提出了一种动态避障算法。首先,获取无人艇周边水域的方形网格轨迹单元态势矩阵;然后,借鉴细菌游走觅食原理,在方形网格轨迹单元集合中,动态匹配最佳避障路径;最后,在动态避障基础上,将无人艇自主巡航过程划分为向目标行进、动态避障、返航补给等阶段,实现无人艇集群对划定水域的常态化巡航。仿真实验结果表明,所提方法对静态点、面障碍以及移动障碍均具有高效的规避能力,在算法基础上,能够实现无人艇集群的常态化无人值守巡航。该算法不仅适合无人艇的避障问题,在其他异构无人装备中也具有广阔的应用前景。

A dynamic obstacle avoidance algorithm is proposed for the obstacle avoidance problem in the cruise task of unmanned boat cluster.Firstly,the square grid trajectory cell(SGTC)situation matrix of the waters around the unmanned surface vessle is obtained.Then,based on the principle of bacterial walking foraging,the optimal obstacle avoidance path is dynamically matched in the SGTC set.Finally,on the basis of dynamic obstacle avoidance,the autonomous cruise process of unmanned surface vessle is divided into stages of moving towards the target,dynamic obstacle avoidance,and return replenishment,so as to realize the normal cruise of unmanned surface vessle to the designated waters.The simulation results show that the proposed method has efficient avoidance ability for static point,surface obstacle and moving obstacle.Based on the algorithm,it can realize the normalized unmanned cruise of unmanned boat cluster.The algorithm is not only suitable for obstacle avoidance of unmanned surface vessle,but also has broad application prospects in other heterogeneous unmanned equipment.