舰船电子工程2023，Vol.43Issue(12)：207-212,6.DOI:10.3969/j.issn.1672-9730.2023.12.042
未知水域中改进BAS-RRT算法的无人艇路径规划
Path Planning of Unmanned Boat Based on Improved BAS-RRT Algorithm in Unknown Waters
摘要
Abstract
Aiming at the problems of weak obstacle avoidance ability,poor path quality and low efficiency of unmanned boat path planning in unknown waters,an improved BAS-RRT path planning algorithm is designed.Firstly,the algorithm improves the efficiency of obstacle avoidance by preprocessing the obstacle information in the environmental information fed back by ship-borne radar.In the algorithm path planning search,BAS algorithm is incorporated to guide the improvement of RRT algorithm search sam-pling to speed up the path search speed,and in the search process,an improved strategy of traversing the parent node is added to optimize the smooth path in real time,so that the final path quality is higher.The improved BAS-RRT path planning algorithm has high intelligence and high performance when it is applied to the path planning of unmanned boats in unknown waters.By simulating the navigation environment of the unmanned boat,the simulation model is established.The experimental comparison shows that the proposed algorithm has good performance,high intelligence,good adaptability,high path quality and short time consumption when applied to the path planning of the unmanned boat in unknown waters.关键词
路径规划/无人艇/未知水域/避障/RRT算法Key words
path planning/unmanned boat/unknown waters/avoidance/RRT algorithm分类
交通工程引用本文复制引用
余智恒,李永胜..未知水域中改进BAS-RRT算法的无人艇路径规划[J].舰船电子工程,2023,43(12):207-212,6.基金项目
国家自然科学基金项目(编号:61866003)资助. （编号:61866003）
