Dynamic Local Path Planning Algorithm for USA Combining DWA and QPSO Algorithm
Aiming at the local path planning problem of the unmanned surface vehicle(USV)in a dynamic environment,the traditional dynamic window approach(DWA)discretizes the speed set to obtain the optimal speed.The amount of calculation is large and the speed resolution has a large impact on the dynamic path planning.So,a dynamic local path planning algorithm for USA based on DWA and quantum particle swarm algorithm(QPSO)is proposed.Firstly,based on the analysis of the initial DWA,the paper considers the requirements of COLREGS and ship maneuverability,and establishes a dynamic window model that incorpo-rates collision avoidance rules.Then the QPSO is incorporated into the velocity window to transform the dynamic local path planning problem into a multi-objective and multi-constraint optimization problem.Finally,the simulation verifies that the fusion algorithm can enable the USV to obtain the optimal speed and heading under constraints and rules,and can safely complete the encounter with the target ship,and it has a higher operating efficiency.
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