为了规划出一条易于水下无人航行器实现紧密跟踪的无障碍短航程路径，针对传统基于Clothoid曲线的路径规划避障算法存在的问题，研究提出了2种改进措施：1）路径与障碍物圆相交时，如果检测到与障碍物边界线没有相交，就不需要画避障路径；2）障碍物圆的曲率不满足运动约束时，按照运动约束曲率生成与原障碍物圆内切的新障碍物圆。理论分析与仿真结果表明，按照改进措施生成的路径避免了画一些不必要的避障路径，并且满足水下无人航行器的运动约束条件，实用性更强。
In order to plan a obstacle-free short distance path from the starting point to the target point on the chart, which is easy for Unmanned Underwater Vehicle(UUV) to realize close tracking, and solve problems in the obstacle avoidance method for UUV’s path planning based on Clothoid curves, two improvement measures are proposed: (1)When the path intersects the obstacle circle, it is necessary to judge whether the path intersects the boundary of the obstacle. If the system detects that the path does not intersect the boundary, there is no need to draw a new path to avoid the obstacle. (2) When the curvature of the obstacle circle doesn’t meet kinematic constraints, a new obstacle circle which is internal tangent with the original obstacle circle is generated according to the kinematic constraint curvature. Theoretical analysis and simulation results show that, the new path generated according to the improvement measures avoids drawing some unnecessary obstacle avoidance paths, meets kinematic constraints, and is easy to achieve.
2020,42(6): 85-88 收稿日期：2017-10-11
DOI：10.3404/j.issn.1672-7649.2020.06.017
分类号：TP301.6
作者简介：兰晓娟(1981-),女,高级工程师,研究方向为水下航行器机构设计与运动规划
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