摘要
无人艇轨迹规划技术是目前无人艇平台研究中的重要课题,是实现无人艇智能无人驾驶功能的重要一环。在宏观上系统总结了国内外轨迹规划算法的主要研究成果,按照环境建模方法进行了算法分类,并对经典的算法和当前研究比较热门的算法的优缺点进行了分析比较,探讨了各个算法的改进方向。最后,提出了无人艇轨迹问题下一步的研究方向。
The technology of USV trajectory planning is an important task in the research of USV platform, and it is an im-portant part to realize the intelligent unmanned vehicle function.On the macro level, the main research results of trajectoryplanning algorithms at home and abroad are systematically summarized. The algorithm is classified according to the environ-mental modeling method. This paper also analyzes and compares the advantages and disadvantages of the classical algorithmand the current popular algorithm, and discusses the improvement direction of each algorithm. Finally, the next research di-rection of the trajectory problem of USV is proposed.
作者
张国栋
陈金鑫
吴鹏飞
ZHANG Guo-dong;CHEN Jin-xin;WU Peng-fei(Naval Research Academy,Beijing 100161;College of Weaponry Engineering,Naval Uni.of Engineering,Wuhan 430033,China)
出处
《指挥控制与仿真》
2018年第5期86-93,共8页
Command Control & Simulation
关键词
无人水面艇
轨迹规划
环境建模
启发式算法
群智能算法
势场法
USV
trajectory planning
environmental modeling
heuristic algorithm
swarm intelligence algorithm
potential field method
作者简介
张国栋（1987-）,男,山东滨州人,博士,研究方向为系统工程.;陈金鑫（1993-）,男,硕士研究生.
