火力与指挥控制2024，Vol.49Issue(3)：73-79,87,8.DOI:10.3969/j.issn.1002-0640.2024.03.010
一种动态不确定海洋环境下的USV态势自主感知及避障算法
An Algorithm for USV Situation Autonomous Awareness and Obstacle Avoidance in Dynamic and Uncertain Marine Environment
王潋 1陈霄 2完颜娟1
作者信息
- 1. 解放军 91054 部队,北京 102442
- 2. 军事科学院,北京 100091
- 折叠
摘要
Abstract
Aiming at the problem of autonomous situation awareness and real-time obstacle avoidance of the USV in dynamic and uncertain marine environment,an autonomous navigation situation awareness and obstacle avoidance algorithm for the USV is proposed,which complies with the COLREGs maritime rules and considers the measurement errors of sensors and the uncertain information of random movement of obstacles.Firstly,three kinds of maritime rules,overtaking,cross encounter and head-on en-counter,must be observed by the USV when navigating at sea are expounded;After that,the measurement errors,observation drift and random uncertainty of obstacle movement existing in the sensor are considered,the relevant error is modeled,and the USV situation autonomous awareness and obstacle avoidance algorithm integrating COLREGs maritime rules is designed and proposed based on the speed obstacle method integrating COLREGs rules;Finally,the effectiveness of the proposed algorithm is verified by four typical scenarios:frontal encounter,overtaking,left and right cross encounter.关键词
无人艇/海事规则/冲突场景/自主避障/不确定性建模/极大似然法Key words
USV/maritime rules/conflict scenarios/autonomous obstacle avoidance/uncertainty modeling/maximum likelihood method分类
交通工程引用本文复制引用
王潋,陈霄,完颜娟..一种动态不确定海洋环境下的USV态势自主感知及避障算法[J].火力与指挥控制,2024,49(3):73-79,87,8.
