基于电子海图的水面无人艇全局路径规划研究

计算机科学 ›› 2011, Vol. 38 ›› Issue (9): 211-214.

基于电子海图的水面无人艇全局路径规划研究

庄佳园,万磊,廖煌雷,孙寒冰

(哈尔滨工程大学水下智能机器人技术国防科技重点实验室哈尔滨 150001)

出版日期:2018-11-16 发布日期:2018-11-16
基金资助:
本文受国家白然科学基金C5O579007)，水下智能机器人技术闰防科技重点实验室研究基金(HEUFT08017)资助。

Global Path Planning of Unmanned Surface Vehicle Based on Electronic Chart

ZHUANG Jia-yuan, WAN Lei , I_IAO Yu-lei , SUN Han bing

Online:2018-11-16 Published:2018-11-16

摘要/Abstract

摘要： 为解决水面无人艇全局路径规划问题，提出一种基于电子海图的距离寻优Dijkstra算法。该算法使用动态网格模型，克服了传统Dijkstra算法占用内存大的问题，可以减少规划时间，提高规划精度。仿真结果表明，采用的环境模型表示方法以及路径规划算法可以生成安全、合理的航线。

关键词: 水面无人艇，电子海图，全局路径规划，Dijkstra算法

Abstract: To solve the problem of global path planning of USV(Unmanned Surface Vehicle) , a search of shortcut Dijkstra algorithm based on electronic chart was presented. The algorithm uses a dynamic grid model,overcomes the occupy memory problem of traditional Dijkstra algorithm, reduces planning time and improves planning precision. Simulation resups show that the environment model and path planning algorithm can generate safety and reasonable routes.

Key words: Unmanned surface vessel, Electronic chart, Global path planning, Dijkstra algorithm

庄佳园,万磊,廖煌雷,孙寒冰. 基于电子海图的水面无人艇全局路径规划研究[J]. 计算机科学, 2011, 38(9): 211-214. https://doi.org/

ZHUANG Jia-yuan, WAN Lei , I_IAO Yu-lei , SUN Han bing. Global Path Planning of Unmanned Surface Vehicle Based on Electronic Chart[J]. Computer Science, 2011, 38(9): 211-214. https://doi.org/

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