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针对水面无人艇在复杂多变的海洋环境下,其航迹实时规划难度较大的问题,提出了一种基于简单模型的无人艇航迹规划算法。根据由电子海图获得的静态障碍物信息,建立航行海区的全局静态环境模型,再利用粒子群优化算法进行全局航迹规划得到参考航迹;当无人艇沿着参考航迹航行时,建立基于雷达探测的局部动态威胁模型,并按提出的动态威胁规避策略实时调整航行轨迹。仿真结果验证了该算法的可行性,提高了水面无人艇对海洋环境的适应性,可得到比较理想的航迹路线。
In view of the difficulty of real-time planning of the unmanned watercraft in the complicated and ever-changing ocean environment, a trajectory planning algorithm based on the simple model is proposed. According to the static obstacle information obtained from the electronic chart, the global static environment model of the sea area is established, and then the global trajectory planning is made by the particle swarm optimization algorithm to obtain the reference trajectory. When the unmanned ship navigates along the reference track, Based on the local dynamic threat model of radar detection, the navigation path is adjusted in real time according to the proposed dynamic threat avoidance strategy. The simulation results verify the feasibility of the algorithm and improve the adaptability of the unmanned water craft to the marine environment, so as to obtain an ideal route route.