| 高速水面无人艇动态障碍物危险规避算法 |
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| 引用本文： | 吉大海,;杨溢,;戴捷,;杨歌,;廖煜雷.高速水面无人艇动态障碍物危险规避算法[J].应用科技,2014(3):40-45. |
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| 作者姓名： | 吉大海 ;杨溢 ;戴捷 ;杨歌 ;廖煜雷 |
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| 作者单位： | [1] 中国人民解放军91550部队,辽宁大连116023; [2] 哈尔滨工程大学水下机器人技术重点实验室,黑龙江哈尔滨150001; [3]哈尔滨工程大学计算机科学与技术学院,黑龙江哈尔滨150001 |
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| 基金项目： | 国家自然科学基金资助项目（61100005）;中国博士后科学基金资助项目（2013M540271）;黑龙江省博士后基金资助项目（ LBH-Z13055）;中央高校基本科研业务费专项基金资助项目（HEUCFD1403） |
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| 摘 要： | 水面无人艇(USV)是一种重要的海洋自主机器人,在障碍物环境中自主航行问题是当前USV的重要研究内容。针对高速USV在动态环境中的危险规避问题,提出一种基于行为的动态危险规避算法。算法首先对USV的运动特性进行分析获得基本运动空间,采用碰撞锥理论对USV与障碍物之间的情况进行判定,将海事规则约束和碰撞约束转换为USV基于行为的约束,通过求解基于偏航角度和速度的优化问题获得USV最优规避行为。仿真实验结果证明所提出的算法能够有效引导USV在高速(30 kn)情况下对动态障碍物实现有效危险规避。
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| 关 键 词： | 水面无人艇 动态障碍物危险规避算法 碰撞锥理论 海事规则 |
Dynamic obstacle avoidance algorithm for high-speed unmanned surface vehicles |
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| Institution: | JI Dahai, YANG Yi, DAI Jie, YANG Ge, LIAO Yulei( 1. People＇ s Liberation Army Forces 91550, Dalian116023, China ; 2. National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China; 3. College of Computer Science and Technology, Harbin Engineering University, Harbin 150001, China) |
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| Abstract: | An unmanned surface vehicle （ USV） is a kind of important marine robot , and the problem of the autono-mous navigation in the obstacle environments is the significant research issues of USV .In this paper , an algorithm of dynamic obstacle avoidance based on behavior is proposed for the navigation of high -speed USV in the dynamic obstacle environments .Firstly, the basic motion space is calculated by analyzing the motion characteristics of USV , and according to the theory of collision cone the collision states of USV can be determined .The constraints of Inter-national Regulations for Preventing Collisions at Sea （ COLREGS） and collision of USV are transferred into the be-havior based constraints , and then the optimal avoidance behavior can be obtained by solving the yaw-angle and ve-locity based constraints optimization problem .In the end, the validity of the algorithm is demonstrated by high-speed （30 kn） USV in the dynamic obstacles environments . |
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| Keywords: | unmanned surface vehicle algorithm of dynamic obstacle avoidance collision cone COLREG |
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