大模型驱动的USV集群自适应路径规划方法

Large Language Model Driven Adaptive Path Planning Method for Unmanned Surface Vehicle Swarm

  • 摘要: 【目的】针对USV集群路径规划方法在复杂环境下适应性差、鲁棒性不足的问题,本文提出大模型(LLM)驱动的工具函数链自适应路径规划方法(Adaptive Path Planning with Tool-function Chains, APPT)。【方法】该方法通过设计规划编码器辅助大模型解析环境障碍特征,结合提示工程构建USV集群路径规划智能体,实现 A*、RRT*、APF、DWA 等经典路径规划算法的动态组装与优化。基于相似度计算策略完成工具链的智能匹配,可灵活适应多样化任务需求与复杂障碍环境,并支持用户引导的自适应迭代优化。【结果】实验结果表明,APPT方法在多场景下有效工具筛选准确率均值为89.7%,且具备根据需求迭代优化的能力,路径总长度缩短14.55%。【结论】APPT 方法充分发挥大模型推理分析优势,有效提高USV集群的智能决策能力,为复杂环境下的路径规划提供了兼具理论创新性与工程实用性的解决方案。

     

    Abstract: Objectives To address the poor adaptability and insufficient robustness of USV swarm path planning methods in complex environments, this paper proposes an LLM-driven Adaptive Path Planning with Tool-function Chains (APPT). Methods The proposed method employs a planning encoder to assist the LLM in parsing environmental obstacle features. Combined with prompt engineering, it constructs an agent for USV swarm path planning, enabling dynamic assembly and optimization of classical path planning algorithms such as A, RRT, APF, and DWA. A similarity calculation strategy is used to achieve intelligent matching of tool chains, allowing flexible adaptation to diverse task requirements and complex obstacle environments while supporting user-guided adaptive iterative optimization. Results Experimental results demonstrate that the APPT method achieves an average accuracy of 89.7% in effective tool selection across multiple scenarios, along with the capability for iterative optimization based on demands, reducing the total path length by 14.55%. Conclusions The APPT method leverages the reasoning and analytical advantages of LLMs, significantly enhancing the intelligent decision-making ability of USV swarms. It provides a solution for path planning in complex environments that combines theoretical innovation and engineering practicality.

     

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