针对2种有无航道线参考的无人船自主航行应用场景，提出一种统一且可实施的规划路径生成方法，作为轨迹规划的指引线。为了解决规划问题，采取了对轨迹的路线规划与速度规划进行分离的方式。通过分解和顺序计算，将1个高维轨迹规划问题转换成了2个低维规划问题。然后基于路线的光滑度、路线与参考线的横向偏移距离、与障碍物的碰撞风险等以构建约束，通过构建和求解优化约束函数实现复杂场景中无人船的轨迹规划。
The autonomous navigation trajectory planning of USV mainly refers to the trajectory planning according to the planned path as far as possible when considering the actual static obstacles or dynamic obstacles and considering the speed and dynamic constraints. In this paper, a unified planning path generation method is proposed as the guide of trajectory planning for two USV autonomous navigation application scenarios with or without channel line reference. In order to solve the planning problem, the path and speed planning of trajectory are separated. A high dimensional trajectory planning problem is transformed into two sequential low dimensional planning problems. Then, constraints are constructed based on the smoothness of the path, the lateral offset distance between the path and the reference line, and the collision risk with obstacles. The trajectory planning of USV in complex environment is realized by optimizing the constraint function.
2022,44(12): 66-70 收稿日期：2021-11-28
DOI：10.3404/j.issn.1672-7649.2022.12.013
分类号：U671.99
基金项目：国家重点研发计划资助项目（2018YFB1600400）
作者简介：曾宏(1986-)，男，硕士研究生，主要从事船舶无人自动控制研究
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