通信与信息技术Issue(2)：23-27,5.
基于改进动态窗口法的无人艇动态避障方法研究
Research on dynamic obstacle avoidance method of unmanned surface vehicle on improved dynamic window approach
摘要
Abstract
Considering that the traditional dynamic window approach unmanned surface vehicle has a relatively close distance when avoiding dynamic obstacles,In the case of collision risk,the movement direction of unmanned surface vehicle under the control of tradi-tional algorithm strategy will shift towards the direction of obstacle movement,which leads to the problem of poor collision avoidance ef-fect and greater collision risk.In this paper,the improved dynamic window approach is used to design collision avoidance strategy.First-ly,the shortest encounter distance between the unmanned surface vehicle and the obstacle is calculated in real time by collision risk,and the collision avoidance time is determined by combining velocity obstacle method and collision risk.The obstacle distance evaluation function is improved by combining the shortest encounter distance to achieve the optimal obstacle avoidance trajectory selection.Then,the obstacle avoidance safety evaluation function is designed to obtain the solution of the optimal obstacle avoidance Angle of unmanned craft.The experimental results show that the improved dynamic window method can avoid collision,and the effect is better and the safety performance is higher.关键词
改进动态窗口法/最短会遇距离/避障安全评价函数/避碰Key words
Improve dynamic window approach/Shortest encounter distance/Obstacle avoidance safety evaluation function/Colli-sion avoidance分类
计算机与自动化引用本文复制引用
唐意成..基于改进动态窗口法的无人艇动态避障方法研究[J].通信与信息技术,2025,(2):23-27,5.基金项目
辽宁省兴辽英才计划资助项目(项目编号:XLYC1902032)辽宁省自然科学基金项目(项目编号:NO.2021-MS-035)机器人学国家重点实验室项目(项目编号:2021-Z11L02) （项目编号:XLYC1902032）
