针对传统人工势场法容易陷入局部最小值点的问题以及采用栅格法离散化环境建模后，无法规划任意角度路径的缺陷，提出一种基于稀疏点约束的改进迭代势场算法。首先建立了安全距离模型和一种更加简单的势函数（与起点、终点的距离函数），然后利用二分搜索的思想和稀疏约束方法找到稀疏点，从而在栅格地图中规划出一条任意角度的最短安全路径。之后针对无人艇高速航行时对动态障碍物避碰这一问题，尤其是航行过程中需要满足国际海上避碰规则公约这一难点。在无人艇避碰的同时考虑海事规则以及运动学约束，让无人艇能够实时规划出一条最优路径。仿真分析和实船试验均验证了本文所提方法的有效性，且表明稀疏迭代势场法的运行效率比传统迭代势场算法提高14倍。
In order to solve the problem that the traditional artificial potential field method is easy to fall into the local minima and the discrete environment modeling way of grid method will plan a path,which couldn’t meet the motion constraints of unmanned surface vehicles (USV), an improved iterative potential field algorithm based on sparse points is proposed in this paper. Firstly, a safe distance model and a simpler potential function (distance function from the starting point and the end point) are established, and then the idea of binary search and the sparse point constraint method are used to find the sparse point so that we can plan the shortest path at any angle in grid. What's more, aiming at the problem of collision avoidance of dynamic obstacles in high-speed navigation, especially the difficulty of meeting the International Collision Regulations(COLREGS) in the course of navigation. Considering COLREGS and kinematics constraints while avoiding collision, USV can plan an optimal path in real time. Both the simulation analysis and the actual ship test verify the effectiveness of the proposed method. It also shows that the running efficiency of the sparse iterative potential field method is 14 times higher than that of the traditional iterative potential field.
2019,41(12): 155-161 收稿日期：2019-05-23
DOI：10.3404/j.issn.1672-7649.2019.12.030
分类号：U664.82
基金项目：山东省重大科技创新工程专项（2018SDKJ0204-2）
作者简介：文龙贻彬(1995-),男,硕士研究生,研究方向为导航制导与控制
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