无人水面艇岛礁海域完全遍历路径规划
发布时间：2018-11-16 10:23
【摘要】：针对无人水面艇(unmanned surface vehicle,USV)对岛礁海域自主测绘时存在的任务计算量大、场景复杂等问题,提出了一种考虑主动方向的动态栅格法与启发式搜索算法.该方法基于动态栅格法进行环境建模,利用优先级启发式算法选择进行遍历的路径点,并在无人水面艇陷入死锁时通过启发式搜索算法产生走出死锁点的最优路径.仿真实验结果表明,该方法能使路径规划的性能得到较大的提升,且规划出的路径更为合理有效,满足无人水面艇对岛礁区域测绘时的路径需求.
[Abstract]:A dynamic grid method and heuristic search algorithm considering active direction are proposed to solve the problems of large computation and complex scene in autonomous mapping of islands and reefs by unmanned surface craft (unmanned surface vehicle,USV). The method is based on the dynamic grid method to model the environment. The priority heuristic algorithm is used to select the traversal path points. The optimal path out of the deadlock point is generated by the heuristic search algorithm when the unmanned water boat falls into deadlock. The simulation results show that the proposed method can greatly improve the performance of path planning, and the path planning is more reasonable and effective, which can meet the path requirements of unmanned surface craft in mapping the island and reef area.
【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(61403245,51675318,61673254) 上海市科委能力建设资助项目(14500500400)
【分类号】：U664.82
本文编号：2335254
[Abstract]:A dynamic grid method and heuristic search algorithm considering active direction are proposed to solve the problems of large computation and complex scene in autonomous mapping of islands and reefs by unmanned surface craft (unmanned surface vehicle,USV). The method is based on the dynamic grid method to model the environment. The priority heuristic algorithm is used to select the traversal path points. The optimal path out of the deadlock point is generated by the heuristic search algorithm when the unmanned water boat falls into deadlock. The simulation results show that the proposed method can greatly improve the performance of path planning, and the path planning is more reasonable and effective, which can meet the path requirements of unmanned surface craft in mapping the island and reef area.
【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(61403245,51675318,61673254) 上海市科委能力建设资助项目(14500500400)
【分类号】：U664.82
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