路春晖, 张博, 付振楷, 等. 搜索算法在无人艇航迹规划中的应用[J]. 中国舰船研究, 2021, 16(1): 83–88. doi: 10.19693/j.issn.1673-3185.01604
引用本文: 路春晖, 张博, 付振楷, 等. 搜索算法在无人艇航迹规划中的应用[J]. 中国舰船研究, 2021, 16(1): 83–88. doi: 10.19693/j.issn.1673-3185.01604
LU C H, ZHANG B, FU Z K, et al. Application of search algorithms in unmanned surface vehicle track planning[J]. Chinese Journal of Ship Research, 2021, 16(1): 83–88. doi: 10.19693/j.issn.1673-3185.01604
Citation: LU C H, ZHANG B, FU Z K, et al. Application of search algorithms in unmanned surface vehicle track planning[J]. Chinese Journal of Ship Research, 2021, 16(1): 83–88. doi: 10.19693/j.issn.1673-3185.01604

搜索算法在无人艇航迹规划中的应用

Application of search algorithms in unmanned surface vehicle track planning

  • 摘要:
      目的  为了更加有效地利用无人艇(USV)执行复杂的海洋作业,需要可靠的航迹规划算法。针对现有路径规划算法研究,提出一种基于2D扫描思想的搜索扫描算法。
      方法  首先,建立环境空间模型,在起点与终点之间存在障碍物的前提下,通过起点360°扫描获取周围障碍物信息,并确定子节点。然后,通过确定代价函数获取子节点,不断扫描最优子节点并更新下一代子节点以扫描到终点,最终确定规划路线。最后,使用LabView2017平台编写算法仿真软件并进行实验。
      结果  结果表明,搜索扫描算法在规划路径上和蚁群算法相比生成的路径质量更高。
      结论  搜索扫描算法减少了传统算法规划路径中结果非最优解的问题,能有效提高算法应用于二维空间路径规划时的可靠性。

     

    Abstract:
      Objectives  There is now an increasing interest in deploying unmanned vehicles (USVs) to support complex oceanic operations. In order to perform these tasks more efficiently, a reliable track planning algorithm is required. Based on the research of existing path planning algorithms, a search scanning algorithm based on 2D scanning idea is proposed.
      Methods  First, establish an environmental space model. On the premise that there is an obstacle between the starting point and the end point, the surrounding obstacle information is acquired through the 360° scan of the starting point, and the child nodes are determined. The acquisition sub-node is determined by the cost function, and the optimal sub-node continuously scans and updates the next-generation sub-node to scan to the end point, and finally determines the planned route. Experiments were performed using the LabView2017 platform to write algorithm simulation software.
      Results  The results showed that the search scan algorithm is of a higher quality on the planned path than the ant colony algorithm.
      Conclusions  The search algorithm reduces the problem that the result is not the optimal solution in the traditional algorithm planning path, and effectively improves the reliability of the algorithm applied to the two-dimensional space path planning.

     

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