基于滚动速度障碍法的AUV动态避障路径规划

章 飞; 胡春磊

doi:10.11993/j.issn.2096-3920.2021.01.005

基于滚动速度障碍法的AUV动态避障路径规划

doi: 10.11993/j.issn.2096-3920.2021.01.005

章飞,
胡春磊

江苏科技大学电子信息学院, 江苏镇江, 212003

基金项目: 国家自然科学基金项目(11574120); 江苏省高校高技术协同创新项目(1634871601-18); 江苏省高校自然科学基金(14KJD510002).

详细信息

作者简介:
章飞(1979-), 男, 博士, 副教授, 主要研究方向为机器人导航与控制, 传感器网络目标跟踪.

中图分类号: TJ630.33 U675.9
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- 文章访问数: 372
- HTML全文浏览量: 22
- PDF下载量: 162
- 被引次数: 0
出版历程
- 收稿日期: 2020-01-09
- 修回日期: 2020-04-29
- 刊出日期: 2021-03-01

Research on AUV Dynamic Obstacle Avoidance Path Planning Based on the Rolling Speed Obstacle Method

School of Electronic Information, Jiangsu University of Science and Technology, Zhenjiang 212003, China

摘要

摘要: 针对自主水下航行器(AUV)在动态环境中的路径规划及避障效果不佳的问题, 提出一种可行的滚动速度障碍方法。该方法将滚动窗口法与速度障碍法相结合, 在混合避障结构下基于滚动窗口法设计合适的三维模型预测控制器, 通过优化目标函数实现对参考路径的稳定跟踪; 窗口滚动的同时构建三维碰撞锥与速度障碍锥模型, 若满足触发避碰条件则计算得到临界碰撞点, 通过对临界碰撞点的跟踪引导AUV安全避障, 若避碰结束则引导AUV完成轨迹恢复。仿真结果表明, 该方法可有效提高AUV在实时路径规划时的动态避障能力。
- 自主水下航行器 /
- 路径规划 /
- 动态避障 /
- 滚动窗口法 /
- 速度障碍法
Abstract: To address the problem of poor path planning and the obstacle avoidance effect of autonomous undersea vehicles(AUVs) in dynamic environments, a feasible rolling speed obstacle method is proposed in this study. This method combines the rolling window method with the speed obstacle method and designs a suitable three-dimensional model predictive controller based on the rolling window method under a hybrid obstacle avoidance structure. Stable tracking of the reference path is achieved by optimizing the objective function. A three-dimensional collision cone and speed obstacle cone model is constructed while the window is rolling. If the collision avoidance condition is met, the critical collision point is calculated, and the AUV is guided to avoid obstacles safely by tracking the critical collision point. If collision avoidance ends, the AUV trajectory recovery is guided. Simulation results show that this method can effectively improve the dynamic obstacle avoidance ability of AUVs in real-time path planning.
- autonomous undersea vehicle(AUV) /
- path planning /
- dynamic obstacle avoidance /
- rolling window method /
- speed obstacle method

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参考文献(14)

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