基于速度障碍法和动态窗口法的无人水面艇动态避障

发布时间：2018-05-19 18:15

本文选题：无人水面艇 + 动态避障　；参考：《上海大学学报(自然科学版)》2017年01期

【摘要】：速度障碍法是一种普遍应用在无人水面艇(unmanned surface vehicle,USV)上的动态避障方法,但传统的速度障碍法未考虑无人水面艇运动学性能与障碍物运动信息误差的影响,也未明确何时开始避障与结束避障.在速度障碍法的基础上,用椭圆表示无人水面艇与障碍物,给出一种求解椭圆切线的方法;将动态窗口法与速度障碍物法相结合,考虑无人水面艇的运动学性能,只使用无人水面艇在给定时间内能到达的速度和方向进行避障计算;通过比较碰撞时间与无人水面艇避开障碍物所需的时间来确定何时开始避障,并提出一种结束避障的判断方法;为了减小障碍物运动信息误差的影响,提出了一种虚拟障碍物方法.最后,通过仿真实验验证了该避障方法的可行性与有效性.
[Abstract]:The velocity obstacle method is a kind of dynamic obstacle avoidance method which is widely used in unmanned surface vehicle (USV). However, the traditional velocity obstacle method does not take into account the influence of the kinematics performance of the unmanned surface craft and the error of obstacle motion information. It is also unclear when to start and end obstacle avoidance. On the basis of velocity obstacle method, this paper presents a method for solving elliptical tangent by using ellipse to represent unmanned surface craft and obstacle, and combines dynamic window method with velocity obstacle method to consider the kinematics performance of unmanned surface craft. The obstacle avoidance is calculated only by using the velocity and direction that the unmanned surface craft can reach within a given time; by comparing the collision time with the time required for the unmanned surface boat to avoid obstacles, the time to avoid obstacles is determined. In order to reduce the influence of obstacle motion information error, a virtual obstacle method is proposed. Finally, the feasibility and effectiveness of the method are verified by simulation experiments.
【作者单位】：上海大学机电工程与自动化学院;
【基金】：国家自然科学基金资助项目(61673254) 上海市自然科学基金资助项目(13ZR1454300) 上海市科委能力建设资助项目(14500500400)
【分类号】：U664.82

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