基于改进人工势场法的内河应急抢险船舶路径规划
Path Planning of Inland River Emergency Rescue Vessels Based on Improved Artificial Potential Field Method
林威 1于竞宇 1王静峰 1朱勇超 1张琼2
作者信息
- 1. 合肥工业大学土木与水利工程学院,合肥 230009
- 2. 安徽建工交通航务集团有限公司,合肥 230000
- 折叠
摘要
针对应急抢险船舶在极端洪涝灾害时的路径规划问题,提出一种改进人工势场法的路径规划算法,实现内河应急抢险船舶的快速精准救援.由于传统人工势场法中存在局部极小点、目标不可达等影响应急抢险船舶救援的安全问题,通过改进斥力势场函数解决了船舶在靠近障碍物的救援点时的目标不可达问题;引入逃逸力避免了局部极小点问题.通过数值仿真试验对比验证,改进后的人工势场法能够帮助应急抢险船舶在复杂的内河航道环境中安全到达救援点.
Abstract
Aiming at the path planning problem of emergency rescue vessels during extreme flooding,a path planning algorithm with improved artificial potential field method is proposed to achieve fast and accurate rescue of inland river emergency rescue vessels.Due to the safety problems such as local minimum point and unreachable target in the traditional artificial potential field method,the repulsion potential field function is improved to solve the unreachable target problem when an emergency rescue vessel is close to the rescue point of an obstacle.Through numerical simulation experiments,the improved artificial potential field method can help emergency rescue vessels safely reach the rescue point in complex inland waterway environments.
关键词
应急抢险船舶/局部路径规划/人工势场法/改进斥力势场函数/逃逸力Key words
emergency rescue vessel/local path planning/artificial potential field method/improved repulsion potential field function/escape force引用本文复制引用
基金项目
安徽省交通运输重点科技资助项目(2021-KJQD-019)
出版年
2024
NETL
NSTL
万方数据