改进速度障碍法的无人艇局部路径规划

doi:10.12305/j.issn.1001-506X.2023.12.28

摘要/Abstract

摘要：

针对传统速度障碍(velocity obstacles, VO)法进行局部路径规划时避碰路径长、避碰时间长以及忽略紧迫局面会遇中避让责任的约束等问题, 提出一种适用于水面无人艇(unmanned surface vehicle, USV)的改进VO法。将四元船舶领域和碰撞威胁距离引入VO避碰时机的计算中, 确定了避碰阈值; 将最晚施舵距离作为碰撞危险局面过渡到紧迫局面的临界值, 构建了紧迫局面模型; 设计了USV避碰模型, 并通过国际海上避碰规则(International Regulations for Collision Avoidance at Sea, GOLREGs)进行约束。比较分析了对遇、右交叉、左交叉和追越4种会遇的避碰仿真。仿真结果表明: 改进的VO法平均路径缩短39.88%、平均时间减少44.26%, 改进后的局部规划能够在保证安全避碰的条件下满足GOLREGs第8条和第13~17条的避让要求。

关键词: 局部路径规划, 速度障碍法, 国际海上避碰规则, 水面无人艇, 紧迫局面

Abstract:

In view of the problem of long collision avoidance paths, long collision avoidance time and regardless of the constraint of avoidance responsibility in close-quarters situation when using conventional velocity obstacle (VO) method for local path planning, this paper proposes an improved VO for unmanned surface vehicle (USV). The quaternion ship domain and collision threat distance are introduced into the calculation of the VO collision avoidance moment to determine the collision avoidance threshold. The latest rudder applying distance is taken as the threshold value for the transformation from dangerous situation to close-quarters situation, and the close-quarters situation model is constructed. An USV collision avoidance model is designed and constrained by International Regulations for Collision Avoidance at Sea (COLREGs). The collision avoidance simulation of head-on, right-crossing, left-crossing and overtaking are compared and analyzed. The simulation results show that the improved VO average path is decreased by 39.88% and the average time is cut by 44.26%. The improved local planning is able to meet the avoidance requirements of Article 8 and Articles 13~17 of the COLREGs under the condition of ensuring safe collision avoidance.

Key words: local path planning, velocity obstacle (VO) method, International Regulations for Collision Avoidance at Sea (COLREGs), unmanned surface vehicle (USV), close-quarters situation

中图分类号:

U675.73

赵贵祥, 王晨旭, 王贺平, 李云淼. 改进速度障碍法的无人艇局部路径规划[J]. 系统工程与电子技术, 2023, 45(12): 3975-3983.

Guixiang ZHAO, Chenxu WANG, Heping WANG, Yunmiao LI. Local path planning for unmanned surface vehicle using improved velocity obstacle method[J]. Systems Engineering and Electronics, 2023, 45(12): 3975-3983.

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主要参数	参数
船名	Dolphin-I
船长/m	3.2
船宽/m	2.2
总重/kg	130.0
进距/m	16.5
旋回初径/m	25.5

场景	初始位置/m	航速/(m/s)	航向/(°)	会遇态势
1	(120, 1 150)	3	180	对遇
2	(635, 900)	3	240	右交叉
3	(-225, 850)	2	120	左交叉
4	(120, 400)	1	000	追越

场景	安全距离/m	实际避让距离/s
1	100.00	368.78
2	100.00	317.65
3	100.00	268.94
4	100.00	135.14

场景	安全距离	碰撞威胁距离	实际避让距离	紧迫局面距离
1	17.48	218.24	217.13	-
2	17.48	167.94	167.94	-
3	17.48	156.11	54.20	54.20
4	17.48	78.71	76.77	-

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