中国舰船研究2024，Vol.19Issue(6)：210-218,9.DOI:10.19693/j.issn.1673-3185.03404
考虑操纵约束的无人艇海域全覆盖路径规划
Sea area full-coverage path planning for unmanned surface vehicle considering maneuvering constraints
摘要
Abstract
[Objective]To overcome the dynamic constraints faced by an unmanned surface vehicle(USV)in sea area coverage tasks,a coverage path planning scheme is constructed that considers the motion character-istics of USVs.[Methods]For obstacle-free environments,polygon region coverage path planning is used to generate coverage paths.For obstructed or restricted environments,trapezoidal decomposition is adopted to decompose the target area into several sub-regions,and a genetic algorithm(GA)is used to optimize the link path between each sub-region.Based on the predicted trajectory set of the USV maneuvering motion model,the turning path and its corresponding reference propeller speed are optimized,and the full coverage of the tar-get sea area is achieved.[Results]The simulation results show that the proposed method can achieve 100%path coverage in sea areas containing obstacles,with each turning path satisfying the maneuvering motion characteristics of the USV.[Conclusion]The full-coverage path planning scheme proposed herein can gen-erate a path that satisfies the maneuvering constraints of the USV,giving it obvious practical value in the fields of intelligent fishery,marine exploration,and marine communication relay.关键词
无人艇/运动规划/路径规划/操纵运动特性/海域全覆盖Key words
unmanned vehicles/motion planning/path planning/maneuvering characteristics/sea area full-coverage分类
交通工程引用本文复制引用
王宁,武慧慧,张宇航..考虑操纵约束的无人艇海域全覆盖路径规划[J].中国舰船研究,2024,19(6):210-218,9.基金项目
国家高层次人才支持计划项目资助(SQ2022QB00329) （SQ2022QB00329）
国家自然科学基金资助项目(U23A20680,52271306) （U23A20680,52271306）
国防基础科研计划一般项目基础前沿寻宝项目(JCKY2022410C013) （JCKY2022410C013）
中央引导地方科技发展专项资金项目(2023JH6/100100010) （2023JH6/100100010）
辽宁省"兴辽英才计划"领军人才项目资助(XLYC2202005) （XLYC2202005）
大连市科技创新基金重大基础研究项目资助(2023JJ11CG009) （2023JJ11CG009）
中央高校基本科研业务费专项资金资助项目(3132023501) （3132023501）
