水面无人艇路径规划算法研究.pdf

摘 要
路径规划技术是智能机器人的关键技术，同时也是一种战略性问题的求
解过程。水面无人艇需要在高度动态和不可预测的海洋环境中达到高级别的
自主导航，故高效、可靠并能够实时避障的路径规划是至关重要的。本文主
要研究了具有静态环境信息的全局规划以及在预定义导航轨迹和动态的障碍
环境下遵守海事规则的局部路径规划。
具体完成的工作有：首先简要介绍了国内外 USV 的研究现状和机器人路
径规划的算法，接着对水面无人艇的运动特性，国际海上避碰规则进行了介
绍，然后重点讨论了 USV 的实时动态避障。本文首先用时效性好的 A 星算
法得到全局路径点，然后在无人艇沿着既定轨迹航行过程中，采用融合了海
事规则的速度避障法根据实时的传感器数据来调整无人艇轨迹；同时考虑到
障碍物运动的不确定性、无人艇运动过程中自身定位系统和实时探测的传感
器系统存在的精度，误差，漂移等造成数据的不确定性，对获取的障碍物信
息进行了不确定建模，并将此修正过程与速度避障法相结合。
本文以无人艇的实时避障策略为重点进行了讨论与验证，通过仿真搭建
了一个无人艇的路径规划平台，实现了无人艇沿预定航线航行中，依据海事
规则实时规避静、动态障碍物的仿真，验证了上述方法的可行性和有效性。

关键词：水面无人艇；速度避障法；不确定性；海事规则；路径点导航
Abstract
Path plannin is the key technology of intelligent robots,it is also a solving
process of strategic Surface Vehicles（USVs） must be
capable of a relatively high degree of autonomous navigation in highly dymamic
and unexpected marine environment,so efficient、realiable and real-time obstacle
avoidance path planning is very thesis mainly researches on global
path planning which is on static environmental informations and local path
planing obeying marine rules in pre-defined navigation ways and dynamic
obstacle enviroments.
The main work accomplished concretely follows:a brief overview of the
research status at home and abroad and the algorithms of robot path planning are
first then,the motion characteristics of the USV and the International
Marine Collision Regulations are also that,the real-time dynamic
obstacle avoidance of the USV is focused this dissertation,at first the global
waypoints is got by A Star search algorithm which is can find an optimal solution
in a short amount of in the process of the USV sailing along the course
of the pre-defined trajectory,according to real-time sensor data,using fusion of the
marine rules of velocity obstacles method to modify the trajectory,at the same
time taking i