王鸿东, 易宏, 向金林, 等. 基于海事规则的中型无人艇避碰路径规划算法研究及应用[J]. 中国舰船研究, 2022, 17(5): 184–195, 203. doi: 10.19693/j.issn.1673-3185.02831
引用本文: 王鸿东, 易宏, 向金林, 等. 基于海事规则的中型无人艇避碰路径规划算法研究及应用[J]. 中国舰船研究, 2022, 17(5): 184–195, 203. doi: 10.19693/j.issn.1673-3185.02831
WANG H D, YI H, XIANG J L, et al. Collision avoidance path planning algorithm research and application of medium-sized USV based on COLREGS[J]. Chinese Journal of Ship Research, 2022, 17(5): 184–195, 203. doi: 10.19693/j.issn.1673-3185.02831
Citation: WANG H D, YI H, XIANG J L, et al. Collision avoidance path planning algorithm research and application of medium-sized USV based on COLREGS[J]. Chinese Journal of Ship Research, 2022, 17(5): 184–195, 203. doi: 10.19693/j.issn.1673-3185.02831

基于海事规则的中型无人艇避碰路径规划算法研究及应用

Collision avoidance path planning algorithm research and application of medium-sized USV based on COLREGS

  • 摘要:
      目的  为解决无人艇(USV)在开阔水域的多目标避碰问题,以中型无人艇为对象,开展基于国际海上避碰规则(COLREGS)的局部路径规划算法研究及应用探索。
      方法  在快速扩展随机树(RRT)算法的基础上,提出虚拟障碍线方法加载COLREGS海事规则约束, 以满足开阔水域避碰路径规划的应用需求。针对RRT算法不考虑速度维度的问题,引入速度障碍算法(VO),提出VO-RRT融合算法并给出最危险障碍物策略,以此解决多目标条件下的实时避碰问题。
      结果  仿真及实船试验的结果表明,所提算法实时性较好,路径重规划耗时均在50 ms以内,且规划出的避碰路径符合COLREGS海事规则中的第6,8及13~18条相关避让要求,可有效应对开阔水域下的多目标避碰问题。
      结论  所提方法的规则遵守性、实时性及安全性较好,具有较高的实用价值。

     

    Abstract:
      Objective  In order to solve the multi-objective collision avoidance problem of unmanned surface vehicles (USVs) in open waters, this paper takes a medium-sized USV as the object and carries out the research and application exploration of a local path planning algorithm based on the Convention on the International Regulations for Preventing Collisions at Sea (COLREGS).
      Methods  A virtual obstacle line method is proposed to load the constraints of COLREGS based on the RRT algorithm for meeting the practical requirements of collision avoidance path planning in open water. In light of the problem that the RRT algorithm does not consider the speed dimension, a velocity obstacle (VO) algorithm is introduced. Next, a VO-RRT fusion algorithm is proposed and given the most dangerous obstacle strategy in order to solve the problem of real-time collision avoidance under multi-objective conditions.
      Results  The simulation and real ship test results show that the proposed algorithm has better real-time performance and takes less than 50 ms to undertake path re-planning. The collision avoidance path planned by the algorithm meets the relevant requirements of Articles 6, 8 and 13–18 of COLREGS. The proposed method can effectively deal with the multi-target collision avoidance problem in open waters.
      Conclusion  The proposed method has good rule compliance, real-time and safety performance, and high practical value.

     

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