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基于改进快速行进平方法的无人帆船动态避碰方法

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  • 国家科技期刊平台
  • NETL
  • NSTL
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[目的]为解决无人帆船在开阔水域的多船避碰问题,对基于改进快速行进平方(IFMS)法的局部动态避碰算法进行研究.[方法]考虑到帆船的速度不可控,将其避碰行为转化为航向控制问题,并以总势场梯度下降方向为期望避碰航向.当帆船没有碰撞危险或顺风航行时,仅通过构造时间势场来避开所有静止不规则障碍并到达目标点;而当帆船存在航行约束时,根据《国际海上避碰规则》(COLREGS)为特定会遇场景设计高斯似然函数用以动态地构建障碍势场.同时,考虑到帆船的航行死区,引入局部风势场,实现帆船动态避碰与"之"字形航行策略相结合的应用需求.[结果]结果显示,所提算法可以使无人帆船在遵守避碰规则和避免航行死区的同时,成功地在各种会遇场景下实现与其他帆船、受限机动船的避碰操作,相比原始快速行进平方(FMS)算法,逆风航行时间大大缩短,避碰航迹也更加合理、安全.[结论]所提方法符合帆船运动特性及避碰规则,在复杂环境下具有较高的安全性和鲁棒性,对无人帆船自主避障技术发展具有一定的科学价值.
Dynamic collision avoidance method of unmanned sailboat based on improved fast-marching square method
[Objective]A local dynamic collision avoidance algorithm based on an improved fast-marching square(IFMS)method is proposed to solve the multi-vessel collision avoidance problem of unmanned sail-boats in open water.[Methods]Considering the uncontrollable speed of a sailboat,its collision avoidance behavior is transformed into a heading control problem,with the direction of the total potential field gradient decreasing as the desired collision avoidance heading.When sailing without risk of collision or downwind,a temporal potential field is constructed to avoid all stationary irregular obstacles and reach the target point.When the sailboat has sailing constraints,Gaussian likelihood functions are designed for specific encounter situations to dynamically construct obstacle potential fields according to the convention on the international regulations for preventing collisions at sea(COLREGS),while the local wind potential field is introduced to consider the dead zone of a sailboat and realize the application requirements of combining dynamic collision avoidance with a zigzag sailing strategy.[Results]The results show that the proposed algorithm can enable an unmanned sailboat to successfully achieve collision avoidance operations with other sailboats and restric-ted motor vessels in various encounter situations,while complying with collision avoidance rules and avoid-ing navigational dead zones.Compared with the original fast-marching square(FMS)algorithm,the upwind sailing time is significantly reduced and the planned collision avoidance trajectory is safer and more reasonable.[Conclusion]The proposed method complies with the characteristics of sailboat motion and collision avoid-ance rules,has high safety and robustness in complex environments,and possesses scientific value regarding the development of autonomous obstacle avoidance technology for unmanned sailboats.

autonomous sailboatsdynamic collision avoidancefast-marching square(FMS)methoddead zoneconvention on the international regulations for preventing collisions at sea(COLREGS)

赵文涛、靖龙悦、孙朝阳、黄琰、谢华龙

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中国科学院 沈阳自动化研究所 机器人学国家重点实验室,辽宁 沈阳 110016

中国科学院 机器人与智能制造创新研究院,辽宁 沈阳 110169

东北大学 机械工程与自动化学院,辽宁 沈阳 110819

无人帆船 动态避障 快速行进平方法 航行死区 国际海上避碰规则

国家自然科学基金面上项目国家自然科学基金青年科学基金国家自然科学基金青年科学基金辽宁省博士科研启动基金机器人学国家重点实验室项目

4227619842206197419061732022BS0282020-Z14

2024

10.19693/j.issn.1673-3185.03241

中国舰船研究
中国舰船研究设计中心

中国舰船研究

CSTPCD北大核心
影响因子：0.496
ISSN：1673-3185
年,卷(期)：2024.19(4)