带拖线阵的水面无人艇局部路径规划算法

doi:10.3969/j.issn.1001-506X.2020.09.14

摘要/Abstract

摘要：

针对带有拖线阵的水面无人艇(unmanned surface vessel, USV)局部路径规划问题,提出了一种基于虚拟斥力场的改进人工势场法。首先,对USV和拖线阵进行建模,分析带有拖线阵USV的避障和缆阵有效张力过大问题;然后,通过增加虚拟斥力场改进人工势场法,在USV艇体有效避障的基础上,增加拖线阵位置安全裕度;最后,兼顾缆体的强度安全,实现带有拖线阵的USV整体有效避障。仿真和海上试验结果表明,所设计的方法能够综合保障USV及其拖线阵的航行安全。

关键词: 水面无人艇, 局部路径规划, 避障算法, 人工势场法

Abstract:

Aiming at the problem of the local path planning for unmanned surface vessel (USV) with towed cable, a virtual repulsive field based modified artificial potential field approach is proposed. Firstly, the model of USV and its towed cable is established, then the problems of "USV+ towed cable" joint collision avoidance and effective tension exceeding threshold are analyzed. Secondly, the artificial potential field apprcach is modified by introducing a virtual repulsive field, and the safety margin of the towed cable is increased based on the effective obstacle avoidance for USV hull. Finally, the cable safety is guaranteed and the effective obstacle avoidance of the USV with towed cable is realized. The simulation and sea test result show that the designed approach could comprehensively guarantee the motion safety of USV and its towed cable.

Key words: unmanned surface vessel (USV), local path planning, collision avoidance algorithm, artificial potential field approach

中图分类号:

TP391

陈岱岱, 李玩幽. 带拖线阵的水面无人艇局部路径规划算法[J]. 系统工程与电子技术, 2020, 42(9): 1988-1994.

Daidai CHEN, Wanyou LI. Local path planning algorithm for USV with towed cable[J]. Systems Engineering and Electronics, 2020, 42(9): 1988-1994.

图/表 14

图1

图2

图3

图4

图5

图6

图7

表1

表2

图8

图9

图10

图11

图12

参考文献 29

1	FOSSEN T, PETTERSEN K, NIJMEJIER H. Sensing and control for autonomous vehicles[M]. Switzerland: Springer, 2017.
2	STENERSEN T. Guidance system for autonomous surface vehi cles[D]. Trondheim: Norwegian University of Science and Technology, 2015.
3	HUANG Y M , CHEN L Y , VAN G P . Generalized velocity obstacle algorithm for preventing ship collisions at sea[J]. Ocean Engineering, 2019, 173, 142- 156. doi: 10.1016/j.oceaneng.2018.12.053
4	KUWATA Y , WOLF M T , ZARZHITSKY D , et al. Safe mari- time autonomous navigation with COLREGS, using velocity obstacles[J]. IEEE Journal of Oceanic Engineering, 2014, 39 (1): 110- 119. doi: 10.1109/JOE.2013.2254214
5	ERIKSEN B H, BREIVIK M. MPC-based mid-level collision avoidance for ASVs using nonlinear programming[C]//Proc.of the IEEE Conference on Control Technology and Applications, 2017: 766-772.
6	HAGEN I B, KUFOALOR D K M, BREKKE E F, et al. MPC-based collision avoidance Strategy for existing marine vessel guidance systems[C]//Proc.of the IEEE International Confe-rence on Robotics and Automation, 2018: 7618-7623.
7	ERIKSEN B H , BREIVIK M , WILTHIL E F , et al. The branc-hing-course MPC algorithm for ma ritime collision avoidance[J]. Journal of Field Robotics, 2019, 36 (7): 1222- 1249. doi: 10.1002/rob.21900
8	HUANG Y M , CHEN L Y , CHEN P F , et al. Ship collision avoidance methods: State-of-the-art[J]. Safety science, 2020, 121, 451- 473. doi: 10.1016/j.ssci.2019.09.018
9	CHIANG H T L , TAPIA L . COLREG-RRT: an RRT-based COLREGS-compliant motion planner for surface vehicle navigation[J]. IEEE Robotics and Automation Letters, 2018, 3 (3): 2024- 2031. doi: 10.1109/LRA.2018.2801881
10	ERIKSEN B H, BREIVIK M, PETTERSEN K Y, et al. A modified dynamic window algorithm for horizontal collision avoidance for AUVs[C]//Proc.of the IEEE Conference on Control Applications, 2016: 499-506.
11	LIN X G, FU Y. Research of USV obstacle avoidance strategy based on dynamic window[C]//Proc.of the IEEE International Conference on Mechatronics and Automation, 2017: 1410-1415.
12	SONG A L , SU B Y , DONG C Z , et al. A two-level dynamic obstacle avoidance algorithm for unmanned surface vehicles[J]. Ocean Engineering, 2018, 170, 351- 360. doi: 10.1016/j.oceaneng.2018.10.008
13	LYU H G , YIN Y . COLREGS-constrained real-time path planning for autonomous ships using modified artificial potential fields[J]. The Journal of Navigation, 2019, 72 (3): 588- 608. doi: 10.1017/S0373463318000796
14	WOERNER K, NOVITZKY M. Legibility and predictability of protocol-constrained motion: evaluating human-robot ship interactions under COLREGS collision av oidance requirements[C]//Proc.of the Robotics: Science and Systems, 2017.
15	WANG Y L , YU X M , LIANG X , et al. A COLREGs-based obstacle avoidance approach for unmanned surface vehicles[J]. Ocean Engineering, 2018, 169, 110- 124. doi: 10.1016/j.oceaneng.2018.09.012
16	ZHAO L M , ROH M I . COLREGs-compliant multiship collision avoidance based on deep reinforcement learning[J]. Ocean Engineering, 2019, 191, 106436. doi: 10.1016/j.oceaneng.2019.106436
17	FUAT B , TULAY Y . COLREGS based path planning and bearing only obstacle avoidance for autonomous unmanned surface ve hicles[J]. Procedia Computer Science, 2018, 131, 633- 640. doi: 10.1016/j.procs.2018.04.306
18	蒲华燕, 丁峰, 李小毛, 等. 基于椭圆碰撞锥的无人艇动态避障方法[J]. 仪器仪表学报, 2017, 38 (7): 1756- 1762. doi: 10.3969/j.issn.0254-3087.2017.07.024
	PU H Y , DING F , LI X M , et al. Maritime autonomous obstacle avoidance in a dynamic environment based on collision cone of ellipse[J]. Chinese Journall of Scientifice Instrument, 2017, 38 (7): 1756- 1762. doi: 10.3969/j.issn.0254-3087.2017.07.024
19	LI Q H. Digital sonar design in underwater acoustics: principles and applications[M]. Berlin: Springer, 2012.
20	奚畅, 蔡志明, 袁骏. 利用拖线阵运动特性的阵形估计方法[J]. 应用声学, 2019, 38 (5): 837- 844.
	XI C , CAI Z M , YUAN J . Towed linear array shape estimation using array motion characteristics[J]. Journal of Applied Acoustics, 2019, 38 (5): 837- 844.
21	LI C Y , JIANG J J , DUAN F J , et al. Towed array shape estimation based on single or double near-field calibrating sources[J]. Circuits Systems & Signal Processing, 2019, 38, 153- 172.
22	SU Q , SHEN Y H , JIAN W . Underdetermined blind identification for uniform linear array by a new time-frequency method[J]. Circuits System Signal Process, 2017, 36 (1): 99- 118. doi: 10.1007/s00034-016-0292-9
23	高守勇, 邱秀分, 申和平, 等. 大孔径光纤拖曳阵阵形畸变对波束零陷的影响[J]. 舰船电子工程, 2016, 36 (8): 165- 169. doi: 10.3969/j.issn.1672-9730.2016.08.041
	GAO S Y , QIU X F , SHEN H P , et al. Influence of shape distortion of large-aperture optical fibre towed array on null-form- ing[J]. Ship Electronic Engineering, 2016, 36 (8): 165- 169. doi: 10.3969/j.issn.1672-9730.2016.08.041
24	ABLOW C M , SCHECHTER S . Numerical simulation of undersea cable dynamics[J]. Ocean Engineering, 1983, 10 (6): 443- 457. doi: 10.1016/0029-8018(83)90046-X
25	HAMZAH A, AHMAD N F M, NUR N A, et al. Analysis of mobile robot path planning with artificial potential fields: me-thods and protocols[C]//Proc.of the 10th National Technical Seminar on Underwater System Technology 2018, 2019, 538: 181-196.
26	ZHOU Z Y , WANG J J , ZHU Z F , et al. Tangent navigated robot path planning strategy using particle swarm optimized artificial potential field[J]. Optik, 2018, 158, 639- 651. doi: 10.1016/j.ijleo.2017.12.169
27	SEMSAR-KAZEROONI E , ELFERINK K , PLOEG J , et al. Multi-objective platoon maneuvering using artificial potential fields[J]. IFAC Papersonline, 2017, 50 (1): 15006- 15011. doi: 10.1016/j.ifacol.2017.08.2570
28	LAZAROWSKA A . Discrete artificial potential field approach to mobile robot path planning[J]. Ifac Pa personline, 2019, 52 (8): 277- 282. doi: 10.1016/j.ifacol.2019.08.083
29	FU M Y , WANG S S , WANG Y H . Multi-behavior fusion based potential field method for path planning of unmanned surface vessel[J]. China Ocean Engineering, 2019, 33 (5): 583- 592. doi: 10.1007/s13344-019-0056-y

节点至拖线阵首端距离/m	有效张力/kN	节点至拖线阵首端距离/m	有效张力/kN
0(拖缆首端)	0.345 5	-	-
0.1	0.345 5	5.0	0.189 9
0.2	0.336 6	10.0	0.120 2
0.3	0.320 4	15.0	0.057 9

直径/m	单位长度质量/(t/m)	弯曲刚度/(kN·m²)	轴向刚度/kN
0.08	0.005 2	0.02	100

[1]	符小卫, 潘静. 无人机集群规避动态障碍物的分布式队形控制[J]. 系统工程与电子技术, 2022, 44(2): 529-537.
[2]	李文刚, 汪流江, 方德翔, 李玉玮, 黄郡. 联合A^*与动态窗口法的路径规划算法[J]. 系统工程与电子技术, 2021, 43(12): 3694-3702.
[3]	韩尧, 李少华. 基于改进人工势场法的无人机航迹规划[J]. 系统工程与电子技术, 2021, 43(11): 3305-3311.
[4]	陈天德, 黄炎焱, 张永亮. 基于碰撞危险度的无陷阱动态航路规划[J]. 系统工程与电子技术, 2019, 41(11): 2496-2506.
[5]	张汝波，邹启杰，杨歌，苏航. 不确定性下USV可变自主控制结构及算法[J]. 系统工程与电子技术, 2014, 36(1): 128-135.