为解决海洋智能无人装备自主作业过程中对全局路径规划能力在快速性和高分辨率方面需求的兼顾问题，提出一种基于矢量电子海图的广域环境建模方法及全局路径规划方法。通过离线提取矢量电子海图数据进行广域环境建模，构建起具有不同分辨率的栅格图层，进而采用改进的A*规划算法（变尺度A*），在建立的环境各图层间进行穿插拓展和搜索规划，输出全局路径。仿真试验结果表明，采用的基于广域环境模型的路径规划方法相对于传统的A*算法能够减少全局规划的搜索步数，快速得到合理的全局路径，并能够在兼顾局部区域规划精度的同时提高规划速度。
To solve the issue of balancing the requirements for global path planning capability in terms of speed and high resolution during autonomous operation of marine intelligent unmanned equipment, this paper presents a wide area environment modeling method and a global path planning method based on vector electronic charts.Modeling the wide area environment offline based on vector electronic charts, build grid layers with different resolutions and then use the improved A* planning algorithm(variable scale A*, vs-A*), expand and search grid between layers in the established environment model, and output global path. The simulation results show that the vs-A* algorithm based on the wide area environment model can reduce the search steps, quickly obtain a reasonable global path, and improve the planning speed while considering the accuracy of local area.
2024,46(22): 99-104 收稿日期：2024-1-28
DOI：10.3404/j.issn.1672-7649.2024.22.018
分类号：U675.79
基金项目：国家自然科学基金资助项目（42227901）
作者简介：赵继成(1989-),男,硕士,工程师,研究方向为无人艇自主技术与集群协同技术
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