无人艇在执行任务时，往往会面临任务目标位置的变化，且受海流空间分布和时间变化的影响，其航行路径常具有不确定性和复杂性。因此，研究无人艇在海流环境中如何实时获取目标信息并灵活调整航行路径显得至关重要。本研究针对无人艇在海流环境下对动态目标点的路径规划问题，提出一种基于海流和动态目标的势场法。该算法优化了人工势场法的斥力函数，通过引入无人艇与目标点的相对距离解决目标点不可达问题。同时，考虑海流对无人艇航行的影响，构建了海流势场函数。通过添加虚拟斥力点和引入安全距离阈值，以减小偏航和碰撞风险。研究结果表明，本文提出的算法在海流环境下能够有效规划出一条无碰路径，实现对动态目标的追踪。
When undertaking a mission, an unmanned surface vehicle (USV) frequently encounters changes in the position of the mission target and is affected by the spatial distribution and temporal change of ocean currents. Consequently, it is crucial to investigate methods of acquiring target information in real-time and to adapt the navigation path in response to the dynamic ocean current environment. This paper addresses the problem of path planning for dynamic target points in an ocean current environment. A new method, the Dynamic Target Current-Integrated Potential Field, is proposed. This method optimizes the repulsion function of the artificial potential field method. It solves the problem of unreachable target points by introducing the relative distance between the unmanned surface vehicle and the target point. Concurrently, the impact of the current on the navigation of unmanned surface vehicles is taken into account, with the construction of a current potential field function. The risk of yaw and collision is reduced by the addition of virtual repulsion points and the introduction of safety distance thresholds. The results demonstrate that the proposed method is capable of effectively planning a non-contact path to track dynamic targets.
2025,47(6): 69-75 收稿日期：2024-6-3
DOI：10.3404/j.issn.1672-7649.2025.06.011
分类号：U675.5
基金项目：福建省自然科学基金项目（2023J01326）；集美大学国家基金培育计划项目（ZP2023004）
作者简介：魏凯（2000 – ），男，硕士，研究方向为交通信息工程及控制、路径规划
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