|国家科技期刊平台
| 注册
首页|期刊导航|华中科技大学学报（自然科学版）|二元动态领域势场法无人艇避碰路径规划

二元动态领域势场法无人艇避碰路径规划

YANG Shaolong SUN Shuo XIANG Xianbo Danny Hashali SHIMHANDA YUAN Zaisi

华中科技大学学报（自然科学版）2025，Vol.53Issue(11)：8-14,7.
✕
华中科技大学学报（自然科学版）2025，Vol.53Issue(11)：8-14,7.DOI:10.13245/j.hust.251117

二元动态领域势场法无人艇避碰路径规划

Path planning for unmanned surface vehicles collision avoidance using binary dynamic domain potential field method

YANG Shaolong 1SUN Shuo 2XIANG Xianbo 1Danny Hashali SHIMHANDA 3YUAN Zaisi2

作者信息

  • 1. School of Naval Architecture and Ocean Engineering,Huazhong University of Science and Technology,Wuhan 430074,China||International Science and Technology Cooperation Offshore Center for Ship and Marine Intelligent Equipment and Technology,Wuhan 430074,China||Wuhan Belt&Road Joint Lab of Ship and Marine Intelligent Equipment and Technology,Wuhan 430074,China
  • 2. School of Naval Architecture and Ocean Engineering,Huazhong University of Science and Technology,Wuhan 430074,China
  • 3. School of Naval Architecture and Ocean Engineering,Huazhong University of Science and Technology,Wuhan 430074,China||International Science and Technology Cooperation Offshore Center for Ship and Marine Intelligent Equipment and Technology,Wuhan 430074,China
  • 折叠

摘要

Abstract

Aiming at the problem of conservative or aggressive collision avoidance decisions caused by the fixed safety distance threshold in the traditional artificial potential field(APF)method for unmanned surface vehicles(USVs),a collision avoidance path planning method based on a binary dynamic domain potential field was proposed.First,combining the safety domain model,concentric elliptical safety domain and avoidance domain were constructed considering the USV's speed and main dimensions.Then,the dynamic avoidance domain replaced the fixed range threshold of the obstacle repulsive force in the traditional APF,enabling adaptive adjustment of the repulsive force range according to speed.Finally,a safety level index was defined based on the distance relationship between obstacles and the safety domain to evaluate the collision avoidance path planning efficiency before and after the improvement of the APF method.Simulation and field tests results show that under a certain safety level premise,the binary dynamic safety domain can better balance the timing of collision avoidance and voyage consumption compared to fixed thresholds and single dynamic safety domains,which could provide better collision avoidance decision support for scenarios such as narrow channel navigation and low-speed approach operations.

关键词

无人艇/人工势场/路径规划/动态领域/避让距离

Key words

unmanned surface vehicle/artificial potential field/path planning/dynamic domain/avoidance distance

分类

交通工程

引用本文复制引用

YANG Shaolong,SUN Shuo,XIANG Xianbo,Danny Hashali SHIMHANDA,YUAN Zaisi..二元动态领域势场法无人艇避碰路径规划[J].华中科技大学学报（自然科学版）,2025,53(11):8-14,7.

基金项目

湖北省国际科技合作资助项目(2023EHA024) （2023EHA024）

华中科技大学"交叉研究支持计划"资助项目(2024JCYJ030). （2024JCYJ030）

华中科技大学学报（自然科学版）

OA北大核心

1671-4512

访问量0
|
下载量0
段落导航相关论文