舰船电子工程2025，Vol.45Issue(5)：37-42,6.DOI:10.3969/j.issn.1672-9730.2025.05.009
基于鱼群算法和Bezier曲线优化的无人艇路径规划
Path Planning for Unmanned Surface Vehicle Based on Fish Swarm Algorithm and Bezier Curve Optimization
摘要
Abstract
Designing a navigation route that is not only safe but also continuous and collision-free is the key to unmanned ships.In this paper,an algorithm combining artificial fish swarm algorithm and continuous segmented Bezier curve is proposed to solve the problem of path planning and route smoothing for small unmanned ship.Aiming at the problems such as low precision,many path points and long planned path of traditional path planning algorithm,artificial fish swarm algorithm is introduced to plan the route for unmanned ships.Artificial fish swarm algorithm has the advantages of good robustness,strong global search ability and high tolerance of parameter setting,and also introduces adaptive step size.In order to ensure that the planned path is continuous in direction and curvature,Bezier curve theory is introduced to smooth the planned path.The simulation results show that the artificial fish swarm algorithm can find the shortest average path in the multi-path environment and achieve higher planning accuracy.In addi-tion,the smooth path is continuous in both direction and curvature,and the proposed method is further verified by a real ship experi-ment,which satisfies the characteristics of unmanned ship sailing on the surface.关键词
小型无人艇/贝塞尔曲线/人工鱼群算法/路径规划Key words
small unmanned surface vehicle/Bezier curve/artificial fish swarm algorithm/path planning分类
交通工程引用本文复制引用
王泽凡,王全政,孙晓旭,朱凯鹏,廉士浩,王晓原..基于鱼群算法和Bezier曲线优化的无人艇路径规划[J].舰船电子工程,2025,45(5):37-42,6.基金项目
国家重点研发计划"综合交通运输与智能交通"重点专项子任务"沿海船舶自主航行系统开发、集成与示范应用"(编号:2018YFB1601500)资助. （编号:2018YFB1601500）
