水面无人艇局部路径规划初步研究

发布时间：2018-10-14 09:59

【摘要】：路径规划是目前关于水面无人艇研究方向的重要内容之一。水面无人艇在海上航行具有高速化和智能化的特点,要求无人艇能自适应的规避海上的障碍物。无人艇路径规划包括全局路径规划和局部路径规划。其中,全局路径规划一般采取基于电子海图的静态方法实现。在水面无人艇高速航行的过程中,未知信息的动态局部路径规划更为重要,而在航行的过程中同时满足《1972年国际海上避碰规则》是一难点。因此,结合《1972年国际海上避碰规则》对水面无人艇局部路径规划进行研究具有重要意义。本文主要研究工作如下:1.总结分析国内外水面无人艇现有路径规划方法及其优缺点,通过对水面无人艇路径规划研究进行分类综述和分析,从获取环境空间障碍物的方式,将水面无人艇路径规划分为基于海洋环境信息的全局路径规划和基于传感器信息的局部路径规划。2.根据《1972年国际海上避碰规则》,结合水面无人艇速度快和体积小等特点,以无人艇船位为圆心,无人艇航向为000°,对无人艇会遇局面进行定量划分。基于船舶近距离会遇距离模型,采用模糊综合评判的方法,建立适用于无人艇的碰撞危险度模型。3.设计水面无人艇局部路径规划多目标遗传算法。以最短局部路径和最小航向改变量为优化目标,以船舶近距离会遇距离模型和《1972年国际海上避碰规则》为约束条件,采用基于序值和拥挤距离的锦标赛选择算子进行遗传操作。当障碍物与路径段相交时,提出了一种基于定比分点法和判别式法的路径点修复方法。4.验证了水面无人艇局部路径规划模型与算法。基于MATLAB R2015b平台,设计了对遇局面,交叉相遇局面和带有静态障碍的多船会遇局面进行仿真验证。实验结果为水面无人艇能成功避让多个障碍物,找到满足模型与算法的最优路径。表明本文设计的水面无人艇局部路径规划方法具有一定的可行性和有效性。
[Abstract]:Path planning is one of the important contents of research on surface unmanned craft. The navigation of surface unmanned craft has the characteristics of high speed and intelligence, which requires the unmanned craft to avoid obstacles at sea adaptively. The path planning of unmanned craft includes global path planning and local path planning. Among them, the global path planning is generally based on the static method of electronic chart. Dynamic local path planning of unknown information is more important in the course of high speed navigation of surface unmanned craft, but it is difficult to meet the 1972 International rules for preventing collisions at Sea simultaneously in the course of navigation. Therefore, it is of great significance to study the local path planning of surface unmanned craft combined with the 1972 International Code for preventing collisions at Sea. The main work of this paper is as follows: 1. This paper summarizes and analyzes the existing path planning methods and their merits and demerits of surface unmanned craft at home and abroad. By classifying and summarizing the research on path planning of surface unmanned craft, the way of acquiring environmental space obstacle is obtained. The path planning of surface unmanned craft is divided into global path planning based on marine environment information and local path planning based on sensor information. 2. According to the International rules for preventing collision at Sea in 1972, combined with the characteristics of fast speed and small volume of surface unmanned craft, taking the position of unmanned boat as the center of circle and the heading of unmanned craft as 000 掳, the situation of unmanned craft will be quantitatively divided. Based on the close distance model and fuzzy comprehensive evaluation method, a collision risk model for unmanned craft is established. Multi-objective genetic algorithm for local path planning of surface unmanned craft is designed. Taking the shortest local path and the minimum course change as the optimization objective, taking the short distance model and the 1972 International rules for preventing collisions at Sea as the constraint conditions, the tournament selection operator based on order value and congestion distance is used to carry out genetic operation. When the obstacle intersects with the path segment, a path point repair method based on the fixed score point method and the discriminant method is proposed. 4. The local path planning model and algorithm of surface unmanned craft are verified. Based on the MATLAB R2015b platform, the simulation verification of the encounter situation, the cross encounter situation and the multi-ship encounter situation with static obstacle is designed. The experimental results show that the surface unmanned craft can successfully avoid many obstacles and find the optimal path to satisfy the model and algorithm. The results show that the local path planning method designed in this paper is feasible and effective.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U665.26

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