摘要
为使无人船在复杂的海上环境具备自主路径规划能力,保证其能够在未知环境中避开障碍物并准确到达目的地,结合A^(*)算法的全局最优特性和动态窗口法的实时性,提出了一种新的无人船动态路径规划算法。将A^(*)算法规划的路径点作为动态窗口法的局部目标点,并在中间路径点不可达时及时重新规划全局路径,形成了A^(*)-动态窗口法。动态环境下的仿真结果表明:该融合算法能引导无人船通过平滑的路径顺利到达目标点,证明了该算法的合理性和有效性,而与多种传统算法的对比结果,验证了所提A^(*)-动态窗口法的优越性。
In order to enable the unmanned ship to have the ability of autonomous path planning in the complex maritime environment and ensure that it can avoid obstacles in the unknown environment to reach the destination accurately,a new dynamic path planning algorithm for unmanned ships was proposed considering the global optimal characteristics of the A^(*)algorithm and the real-time performance of the dynamic window method.The path points planned by the A^(*)algorithm were used as the local target points of the dynamic window method,and the global path was re-planned in time when the intermediate path points were unreachable,forming an A^(*)-dynamic window method.The simulation results in the dynamic environment show that the fusion algorithm can guide the unmanned ship to reach the target point smoothly through a smooth path,which proves the rationality and effectiveness of the algorithm.And thus the superiority of the proposed method to many traditional algorithms is verified.
作者
王征
杨洋
周帅
尹洋
WANG Zheng;YANG Yang;ZHOU Shuai;YIN Yang(College of Electrical Engineering,Naval Univ.of Engineering,Wuhan 430033,China)
出处
《海军工程大学学报》
CAS
北大核心
2024年第2期13-18,共6页
Journal of Naval University of Engineering
基金
国家自然科学基金资助项目(42122025,41974005)。
作者简介
王征(1978-),男,副教授,博士,主要研究方向为无人平台控制技术;通信作者:尹洋(1979-),男,讲师,博士,reeyan@163.com。
