指挥控制与仿真2026，Vol.48Issue(1)：36-44,9.DOI:10.3969/j.issn.1673-3819.2026.01.005
基于激光雷达的无人船水面路径规划方法研究
Research on method of path planning of unmanned surface vehicle based on LiDAR
王路 1朱衍明 2宋家平 2徐马长啸3
作者信息
- 1. 海军驻北京地区军事代表局,北京 海淀 100036
- 2. 中国船舶集团有限公司系统工程研究院,北京 海淀 100036
- 3. 陕西法士特汽车传动集团有限责任公司,陕西 西安 710119
- 折叠
摘要
Abstract
To address the inefficiency and inaccuracy in water surface target detection and path planning for unmanned sur-face vehicles(USVs),this paper proposes a water surface target detection method based on LiDAR and a safe-region RRT∗path planning algorithm based on KD-Tree.First,environmental point cloud data collected by LiDAR is processed using a bilateral filtering algorithm to filter out scattered and disordered noise points,thereby reducing the amount of data for subse-quent processing.Next,the improved RANSAC algorithm is applied to achieve water surface segmentation,distinguishing between water and non-water regions.Subsequently,a multi-threshold Euclidean clustering algorithm is used to complete wa-ter surface target detection and identify water surface obstacles.Based on this,a path planning algorithm is designed to gen-erate a safe and feasible navigation path for the USV.Simulation and experimental results demonstrate that the proposed method exhibits high reliability and effectiveness in water surface target detection and path planning,providing essential technical support for the autonomous navigation of USVs in complex water environments.关键词
激光雷达/无人船/目标检测/路径规划Key words
LiDAR/unmanned surface vehicle/object detection/path planning分类
信息技术与安全科学引用本文复制引用
王路,朱衍明,宋家平,徐马长啸..基于激光雷达的无人船水面路径规划方法研究[J].指挥控制与仿真,2026,48(1):36-44,9.
