无人船的路径规划技术是保证无人船能够有效执行任务、独立自主完成路径跟踪、轨迹跟踪，并在航行中自动规避障碍物、优化航行路径的关键技术。针对无人船出港口的实际过程，主要解决传统的人工势场法存在的目标不可达问题和局部极小值问题，在Krogh算法的基础上提出了新的人工势场函数，并增加了逃逸力因数。无人船出港的仿真实验验证了改进人工势场算法的有效性，与传统人工势场法的对比结果表明，改进后的人工势场法应用于无人船的航行轨迹规划规避障碍物更加灵活，规划的航行轨迹更加符合实际航行需求。
The path planning technology of the unmanned ship is the key technology to ensure that the unmanned ship can effectively perform the task, independently and autonomously complete the path tracking and trajectory tracking, and automatically avoid the obstacles and optimize the navigation path during the navigation. For the actual process of the unmanned ship leaving the port, the main solution is to solve the target unreachability problem and local minima problem of the traditional artificial potential field method, a new artificial potential field function is proposed on the basis of Krogh algorithm and the escape force factor is added, the simulation experiment of the unmanned ship leaving the port verifies the effectiveness of the improved artificial potential field algorithm, and the comparison results with the traditional artificial potential field method show that the improved artificial potential field method. The comparison results show that the improved artificial potential field method is more flexible to avoid obstacles and the planned navigation trajectory is more in line with the actual navigation requirements.
2022,44(9): 63-68 收稿日期：2021-08-24
DOI：10.3404/j.issn.1672-7649.2022.09.013
分类号：U667
作者简介：张琪(1992-)，女，硕士研究生，研究方向为智能无人装备集成设计
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