石油地球物理勘探2025，Vol.60Issue(2)：302-309,8.DOI:10.13810/j.cnki.issn.1000-7210.20240055
复杂海域观测系统自动化避障方法及应用
Intelligent obstacle avoidance method for complex sea area observation system and its application
摘要
Abstract
Dense drilling platforms,coral reefs,docks,pipelines,and other obstacles lead to the necessity of obstacle avoidance for source and receiver points in the design of marine seismic data acquisition by the ocean bottom node(OBN).Planning a path with obstacle avoidance is a key to the success of marine seismic explora-tion.Reasonable obstacle avoidance method and path planning scheme can minimize the influence of obstacles on bin attributes in the construction area,avoid the invalid work,and reduce the construction risk.Traditional obstacle avoidance methods generally move the source and receiver points in the obstacle area laterally to the outside without considering the influences of the turning radius of the source vessel and the width of the ex-pander.The manual obstacle avoidance method leads to technical problems such as low obstacle avoidance effi-ciency,a large error,serious loss in the coverage area,and potential safety hazards caused by inaccurate turning radius design of vessel.This paper proposes an intelligent obstacle avoidance method for complex sea area ob-servation system.The shot line of the observation system is fitted by the trajectory theory,which is then com-bined with algorithms of multi-obstacle tangent circle against trajectory,obstacle merging,and dynamic feed-back correction of trajectory.In this way,the paper forms an intelligent obstacle avoidance technique based on a backtracking algorithm and real-time calculation and adjustment of various parameters,greatly improving the efficiency and accuracy of obstacle avoidance.The production practice shows that the method can improve the efficiency and accuracy of exploration in complex sea areas and provide technical support for safe and efficient exploration in complex marine obstacle areas.关键词
OBN/转弯半径/手工避障/动态反馈/回溯法/自动避障Key words
OBN/turning radius/manual obstacle avoidance/dynamic feedback/backtracking algorithm/intelli-gent obstacle avoidance分类
地质学引用本文复制引用
胡斌,门哲,侯昆鹏,杨剑,睢永平,白志宏..复杂海域观测系统自动化避障方法及应用[J].石油地球物理勘探,2025,60(2):302-309,8.基金项目
本项研究受中国石油天然气集团有限公司科技项目"物探核心装备与软件研制"之课题"地震采集工程软件系统KLSeisⅢ研发"(2021DJ3604)资助. （2021DJ3604）
