基于改进人工势场法的无人艇避障路径规划方法

张亚博; 王宏瑞; 张海燕; 肖强; 刘宇鑫

doi:10.11993/j.issn.2096-3920.2025-0030

基于改进人工势场法的无人艇避障路径规划方法

doi: 10.11993/j.issn.2096-3920.2025-0030

北京航天发射技术研究所, 北京, 100076

详细信息

作者简介:
张亚博(1994-), 男, 工程师, 主要研究方向为智能装备、动力学与控制

中图分类号: TJ630; U664.82
计量
- 文章访问数: 99
- HTML全文浏览量: 37
- PDF下载量: 11
- 被引次数: 0
出版历程
- 收稿日期: 2025-02-24
- 修回日期: 2025-03-23
- 录用日期: 2025-03-26
- 网络出版日期: 2025-07-14

Method for Obstacle Avoidance Path Planning of Unmanned Surface Vessel Based on Improved Artificial Potential Field Method

Beijing Institute of Space Launch Technology, Beijing 100076, China

摘要

摘要: 针对无人艇避障局部路径规划问题, 依托人工势场架构, 提出了一种基于经纬度坐标水面态势动态构建的避障局部路径规划方法。首先梳理了经纬度坐标系中的基本运算, 进而推导了传统势函数法的引力及斥力函数形式, 阐述了传统势函数法及其改进方法在工程中存在的虚拟目标点确定困难、被控对象轨迹无法准确预测等问题, 设计了依托水面态势动态构建的改进势函数局部路径规划算法。最后对所设计的方法进行了仿真验证及海上试验, 结果表明, 所提出的避障路径规划工程方法能够引导无人艇完成避障任务, 具有较强的可靠性和鲁棒性。
- 无人艇 /
- 路径规划 /
- 避障 /
- 人工势场法
Abstract: To solve the problem of local path planning for obstacle avoidance of unmanned surface vessels, an artificial potential field framework was proposed, and a local path planning method for obstacle avoidance based on the dynamic construction of the water surface situation in longitude and latitude coordinates was proposed. Initially, the basic operations in the longitude and latitude coordinate system were sorted out and organized, and then the gravitational and repulsive force functions of the traditional potential function method were derived. The problems existing in the traditional potential function method and its improved methods, such as the difficulty in determining the virtual target point in the project and the inability to accurately predict the trajectory of the controlled object, were expounded. An improved potential function local path planning algorithm relying on the dynamic construction of the water surface situation was designed. Finally, the designed method was verified by simulation and sea trials. The results show that the proposed engineering method for obstacle avoidance path planning can guide the unmanned surface vessel to complete the obstacle avoidance task and has strong reliability and robustness.
- unmanned surface vessel /
- path planning /
- obstacle avoidance /
- artificial potential field method

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图 1 水面态势动态构建示意图

Figure 1. Schematic diagram of dynamic construction of water surface situation

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图 2 单障碍物规避示意图

Figure 2. Schematic diagram of single obstacle avoidance

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图 3 多障碍物规避示意图

Figure 3. Schematic diagram of multi-obstacles avoidance

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图 4 动态避障仿真图

Figure 4. Simulation diagram of dynamic obstacle avoidance

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图 5 势场合力随航行里程变化关系

Figure 5. Resultant force chang with sailing mileage

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图 6 期望航向随航行里程变化关系

Figure 6. Expected heading chang with sailing mileage

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图 7 无人艇和障碍物的实时最小距离

Figure 7. Real time minimum distance between an unmanned surface vessel and obstacles

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图 8 无人艇区域巡逻避障海试效果

Figure 8. Sea trial effect of unmanned surface vessel area patrol obstacle avoidance

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图 9 无人艇航线跟踪避障海试效果

Figure 9. Sea trial effect of unmanned surface vessel route tracking obstacle avoidance

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图 10 无人艇动态目标避障海试效果

Figure 10. Sea trial effect of unmanned surface vessel dynamic target obstacle avoidance

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表 1 无人艇状态信息

Table 1. State information of unmanned surface vessel

初始位置	期望位置	$ {R_{{\text{threat}}}} $/m	$ {R_{{\text{turn}}}} $/m	$ k $
[113.000 00, 21.000 00]	[113.030 00, 113.030 00]	50	30	4

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表 2 原始障碍物信息

Table 2. Information of original obstacles

试验	经度/(°)	纬度/(°)	尺寸/m	试验	经度/(°)	纬度/(°)	尺寸/m	试验	经度/(°)	纬度/(°)	尺寸/m
第1次	113.001 38	21.005 86	64.40	第2次	113.011 76	21.019 66	53.42	第3次	113.011 53	21.017 48	55.03
	113.021 65	21.026 33	61.64		113.021 18	21.000 95	55.53		113.008 71	21.018 51	55.30
	113.002 12	21.027 68	66.00		113.001 38	21.002 91	66.46		113.024 73	21.029 47	64.60
	113.008 57	21.016 30	69.69		113.020 84	21.009 51	69.00		113.010 31	21.017 52	52.15
	113.021 47	21.025 16	58.66		113.001 03	21.013 16	57.63		113.027 18	21.026 38	66.35
	113.014 11	21.016 82	55.38		113.022 96	21.023 85	53.73		113.007 82	21.017 83	50.45
	113.022 47	21.015 11	62.93		113.014 69	21.013 36	62.92		113.012 75	21.009 38	53.22
	113.009 23	21.004 16	59.51		113.021 28	21.022 64	55.52		113.005 36	21.012 68	51.88
	113.010 87	21.023 64	65.60		113.020 39	21.019 65	53.25		113.017 95	21.014 12	63.91
	113.014 00	21.014 00	110.00		113.014 00	21.014 00	110.00		113.014 00	21.014 00	110.00

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表 3 归并后的障碍物信息

Table 3. Information of merged obstacles

试验	经度/(°)	纬度/(°)	尺寸/m	试验	经度/(°)	纬度/(°)	尺寸/m	试验	经度/(°)	纬度/(°)	尺寸/m
第1次	113.009 23	21.004 161	59.51	第2次	113.021 47	21.021 90	327.97	第3次	113.011 54	21.014 71	733.24
	113.010 87	21.023 64	65.60		113.014 18	21.013 83	136.75		113.025 97	21.027 92	279.46
	113.001 38	21.005 86	64.40		113.011 77	21.019 66	53.42
	113.021 56	21.025 76	125.60		113.021 18	21.000 95	55.53
	113.002 12	21.027 68	66.00		113.001 39	21.002 91	66.46
	113.022 47	21.015 11	62.93		113.020 84	21.009 51	69.00
	113.012 11	21.015 57	445.65		113.001 03	21.013 16	57.63

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