水面无人艇分层策略局部危险规避

doi:10.3969/j.issn.0255-8297.2013.04.013

应用科学学报 ›› 2013, Vol. 31 ›› Issue (4): 418-426.doi: 10.3969/j.issn.0255-8297.2013.04.013

水面无人艇分层策略局部危险规避

唐平鹏1，张汝波1，史长亭1，杨歌1，刘德丽2

1. 哈尔滨工程大学计算机科学与技术学院，哈尔滨150001
2. 北京邮电大学信息与通信学院，北京100876

收稿日期:2012-05-17 修回日期:2012-11-28 出版日期:2013-07-27 发布日期:2012-11-28
通信作者: 唐平鹏，博士生，研究方向：机器人路径规划、机器学习进化计算，E-mail：tangpengok123456@163.com
作者简介:唐平鹏，博士生，研究方向：机器人路径规划、机器学习进化计算，E-mail：tangpengok123456@163.com；张汝波，教授，博导，研究方向：智能机器人与智能控制、机器学习与计算智能、计算机听觉及语音信号处理，E-mail：zhangrubo@hrbeu.edu.cn
基金资助:
国家自然科学基金(No.60975071, No.61100005)资助

Local Obstacle Avoidance for Unmanned Surface Vehicle Using a Hierarchical Strategy

TANG Ping-peng1, ZHANG Ru-bo1, SHI Chang-ting1, YANG Ge1, LIU De-li2

1. College of Computer Science and Technology, Harbin Engineering University, Harbin 150001, China
2. College of Information and Communication, Beijing University of Posts and Telecommunications, Beijing 100876, China

Received:2012-05-17 Revised:2012-11-28 Online:2013-07-27 Published:2012-11-28

摘要/Abstract

摘要： 根据水面无人艇运动学和基础控制特性提出一种局部危险规避算法. 采用分层策将动态窗口分解为艏向窗口和线速度窗口，使用切线法和弧线法分别从艏向窗口和线速度窗口中求出规避角速度和线速度，并引入角速度缓冲模型以提升规划过程中艇体的稳定性. 仿真实验验证了算法具有规避能力强和稳定性高的特点，并由湖试实艇实验验证了算法对实艇的基础控制特性具有良好的适应性，能引导水面无人艇在实际环境中实现有效安全的危险规避.

关键词: 水面无人艇, 局部危险规避, 动态窗口, 分层策略, 角速度缓冲模型, 切线法, 弧线法

Abstract: This paper proposes a local obstacle avoidance algorithm for unmanned surface vehicles (USV).It is designed based on the kinetic and basic motion control characteristics of USV. The heading window and linear velocity window are obtained from the dynamic window by using a hierarchical strategy. The angular
velocity and linear velocity are obtained from the heading window and linear velocity window with the tangent method and the curve method. For stability of the vessel, a buffering model of angular velocity is designed. Simulation shows that the proposed algorithm has strong capability of obstacle avoidance and high stability.Results of on-boat experiment demonstrate that the algorithm is suitable for the basic control of actual boats,and can guide USV to realize obstacle avoidance in real environment.

Key words: unmanned surface vehicle (USV), local obstacle avoidance, dynamic window, hierarchical strategy, moderation model of angular velocity, tangent method, curve method

中图分类号:

TP24

唐平鹏1，张汝波1，史长亭1，杨歌1，刘德丽2. 水面无人艇分层策略局部危险规避[J]. 应用科学学报, 2013, 31(4): 418-426.

TANG Ping-peng1, ZHANG Ru-bo1, SHI Chang-ting1, YANG Ge1, LIU De-li2. Local Obstacle Avoidance for Unmanned Surface Vehicle Using a Hierarchical Strategy[J]. Journal of Applied Sciences, 2013, 31(4): 418-426.

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水面无人艇分层策略局部危险规避

Local Obstacle Avoidance for Unmanned Surface Vehicle Using a Hierarchical Strategy

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