计算机科学

计算机科学 ›› 2024, Vol. 51 ›› Issue (9): 290-298.doi: 10.11896/jsjkx.230900017

• 人工智能 • 上一篇    下一篇

考虑无人艇运动学约束的IRRT*-APF路径规划算法

刘意1, 齐洁1,2   

  1. 1 东华大学信息科学与技术学院 上海 201620
    2 东华大学数字化纺织服装技术教育部工程研究中心 上海 201620
  • 收稿日期:2023-09-04 修回日期:2023-12-14 出版日期:2024-09-15 发布日期:2024-09-10
  • 通讯作者: 齐洁(jieqi@dhu.edu.cn)
  • 作者简介:(oppoa100163@163.com)
  • 基金资助:
    国家自然科学基金面上项目(62173084)

IRRT*-APF Path Planning Algorithm Considering Kinematic Constraints of Unmanned Surface Vehicle

LIU Yi1, QI Jie1,2   

  1. 1 College of Information Science and Technology,Donghua University,Shanghai 201620,China
    2 Engineering Research Center of Digitized Textile and Fashion Technology Ministry of Education,Donghua University,Shanghai 201620,China
  • Received:2023-09-04 Revised:2023-12-14 Online:2024-09-15 Published:2024-09-10
  • About author:LIU Yi,born in 1997,postgraduate.His main research interests include robot path planning and control,and so on.
    QI Jie,born in 1978,Ph.D,professor.Her main research interests include multi-robot collaborative control,distributed parameter system control,modeling of complex industrial processes,optimization and control.
  • Supported by:
    National Natural Science Foundation of China(62173084).

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摘要： 针对未知环境下无人艇(USV)的路径规划问题,提出了一种考虑无人艇运动学约束的改进RRT*-APF路径规划算法(IRRT*- APF)。通过引入改进的人工势场法(APF)提高了快速搜索随机树(RRT*)的避障性能,在人工势场中考虑无人艇与障碍物和目标点间的角度大小,加速了无人艇远离障碍物并接近目标点;使用曼哈顿距离法提高了RRT*算法的效率。所提出的IRRT*-APF方法,与滚动RRT*算法和PSOFS算法进行了仿真对比实验。结果表明,提出的方法所规划的路径转折的次数和转角均显著减小,有利于实现无人艇的平稳控制,同时缩短了路径长度和规划路径的时间。在风浪环境下的进一步仿真实验结果表明,所提出的算法在有风浪干扰时依然能规划出符合无人艇运动学的轨迹,具有较强的抗风浪鲁棒性。

关键词: 无人艇, 快速扩展随机树, 人工势场法, 局部路径规划, 滚动窗口

Abstract: Aiming at the path planning problem of unmanned surface vehicle(USV) in unknown environment,an improved rapidly-exploring random tree artificial potential field path planning algorithm(IRRT*- APF) considering the kinematics constraints of USV is proposed.The improved artificial potential field(APF) method is introduced to improve the obstacle avoidance perfor-mance of the rapidly-exploring random tree(RRT*).The use of the taxicab geometry method greatly improves the efficiency of the RRT* algorithm.The proposed IRRT*- APF method is compared with the rolling RRT* algorithm and PSOFS algorithm in simulation experiments,and the results show that the number of turns and corners planned by the proposed method are significantly reduced,which is conducive to the smooth control of the USV.At the same time,it reduces the time for planning the path.Further simulation experiments in the wind and waves interference environment are carried out,and the results show that the proposed algorithm can still plan the trajectory consistent with thekinematics constraints of USV even in the case of wind and waves interference,which shows strong robustness against wind and waves.

Key words: Unmanned surface vehicle, Rapid-exploration random tree, Artificial potential field, Local path planning, Rolling window

中图分类号: 

  • TP391.9
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