基于改进RRT算法的无人船路径规划研究
Research on unmanned ship path planning based on improved RRT algorithm
曲胜 1许志远 1张晓鹏 1邱文轩 1翟泽宇1
作者信息
- 1. 大连海洋大学航海与船舶工程学院,辽宁大连116023
- 折叠
摘要
为了解决无人船在不同水面环境下的自主路径规划时间长、效率低甚至无法规划等问题,提出一种利用人工势场法(APF)融合快速扩展随机树(RRT)算法的无人船路径规划方法(APF-RRT).利用RRT算法可以在任何方向上进行路径探索的特点,再融合人工势场法新的势场函数,使无人船可以向目标区域前进的同时具备远离障碍物的能力.使用Matlab进行模拟仿真试验,模拟了在不同环境下几种算法规划路径的情况并进行对比,仿真结果表明,融合后的算法在规划速度、节点数量和路径选择都明显更优.
Abstract
In order to solve the problems of long time,low efficiency or even inability of autonomous path planning for unmanned vessels in different water surface environments,an unmanned vessel path planning method (APF-RRT)utilizing the Artificial Potential Field (APF)method fused with RRT algorithm is proposed.The RRT algorithm is utilized to explore the path in any direction,and then fused with the new potential field function of the artificial potential field method,so that the unmanned ship can move forward to the target area while having the ability to stay away from obstacles.Simulation experiments are conducted using Matlab to simulate and compare several algorithms planning paths in different environments,and the simulation results show that the fused algorithm is significantly better in terms of planning speed,the number of nodes and path selection.
关键词
无人船/人工势场法/快速扩展随机树法/路径规划Key words
unmanned ship/Artificial Potential Field method/fast extended random tree method/path planning引用本文复制引用
出版年
2024
NETL
NSTL
万方数据