近年来，随着人工智能等高新技术的发展，无人平台的发展日新月异，以无人水面艇为代表的无人平台受到国内外专家学者越来越多的关注。其中航路规划系统是实现无人艇正常航行和体现无人艇智能化的关键技术之一。目前大多数航路规划算法适用的场景主要为无人艇的自由航行，避碰能力单一，且未充分考虑无人艇自身欠驱动型以及机动能力的限制，很难满足复杂障碍环境下智能避碰的需求。本文设计基于分层规划的航路规划方案，提出多单元模块下的无人艇航路规划策略，并基于无人艇自身特性设计对应的轨迹规划单元。最后在GIS数据上，对所设计的智能航路规划系统进行仿真验证，实验结果验证系统的有效性和实用性。
In recent years, with the development of high-tech such as artificial intelligence, the development of unmanned platforms is changing rapidly, Unmanned Surface Vehicle as the representative of the unmanned platforms is being more and more attention has been paid. Among the platforms route planning system is an important part of realizing the safety of USV and is one of the key technologies for intelligence of USV. Currently the scenarios where most of route planning algorithms are applicable are mainly free navigation and the ability of collision avoidance is simple. Insufficient consideration of the under-driving type and maneuverability of USV make it difficult to meet the requirements of intelligent collision avoidance in complex obstacle environments. This paper studies and designs route planning system based on hierarchical planning. The multi-units planning strategy is proposed and designs its corresponding trajectory planning units based on the characteristics of the body to realize the whole system. Finally, the deigned route planning system is simulated and tested on the GIS data and the results show the effectiveness and practicability of the deigned system.
2021,43(3): 115-119 收稿日期：2020-11-30
DOI：10.3404/j.issn.1672-7649.2021.03.022
分类号：U661.73
作者简介：贾宇(1981-)，男，硕士，高级工程师，研究方向为光电总体技术
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