摘要
针对无人艇(Unmanned Surface Vessel,USV)自动回坞时高效路径规划等任务需求,提出了一种基于改进A*算法的无人艇回坞路径规划方法。在传统A*搜索算法基础上增加船艏角度偏差因素和碰撞避免等约束条件,结合拉默-道格拉斯-普克(Ramer-Douglas-Peucker,RDP)算法规划出优化的全局路径。建立航迹最短和推力变化率(Snap)最小的多约束优化模型,推导Snap最优时Bezier曲线构造方法,以满足回坞曲线连续性和运动约束。仿真实验结果表明,相比于传统A*和RRT(Rapidly-exploring Random Tree)算法,所提出的改进A*+RDP算法规划的路径长度平均缩短了约4%~9%,而且路径规划计算量较低。曲线插值的平滑轨迹满足无人艇的运动学约束,适用于无人艇自动回坞路径规划任务。
Aiming at the task requirements of efficient path planning when Unmanned Surface Vessel(USV)returns to dockyard automatically,a novel path planning method is proposed for Unmanned Surface Vessel based on improved A*algorithm.On the basis of traditional A*search algorithm,the bow angle deviation factor and collision avoidance constraints are added to the search strategy,and the optimized global path is designed in combination with Ramer Douglas Peucker(RDP)reduction algorithm.The multiple constraints optimization model with shortest trajectory and minimum thrust change rate(Snap)for automatic docking of USV is established,and the construction method of Bezier curve under Snap optimization constraint is deduced to meet the continuity and motion constraints of the docking trajectory of USV.Simulation results verify that compared with the traditional A*and RRT(rapid exploring random tree)algorithms,the path length of the improved A*+RDP algorithm proposed is shortened by about 4%~9%on average,and the amount of calculation of path planning is low.The smooth trajectory of Bezier curve interpolation meets the kinematic constraints of USV.Finally,it is suitable for the automatic docking path planning task of Unmanned Surface Vessel.
作者
张美燕
杨庆生
蔡文郁
ZHANG Meiyan;YANG Qingsheng;CAI Wenyu(College of Electrical Engineering,Zhejiang University of Water Resources and Electric Power,Hangzhou Zhejiang 310018,China;College of Electronics and Information,Hangzhou Dianzi University,Hangzhou Zhejiang 310018,China)
出处
《传感技术学报》
CAS
CSCD
北大核心
2022年第11期1506-1512,共7页
Chinese Journal of Sensors and Actuators
基金
浙江省自然科学基金项目(LZJWY22E090001,LZ22F010004)
国家自然科学基金项目(62271179,61871163,61801431)
浙江水利水电学院校级科研项目(XT-202105)。
关键词
无人艇
自动回坞
路径规划
改进A*算法
Unmanned Surface Vessel(USV)
automatic docking
improved A*algorithm
path planning
