汪 栋^1,2, 张 杰^1,2, 金久才², 毛兴鹏¹
1.哈尔滨工业大学 电子与信息工程学院;2.国家海洋局第一海洋研究所

摘要:
针对多礁石、渔船等障碍物的近海复杂环境下的一些应用, 提出了一种基于有限状态机(finite-state machine, FSM)模型的无人船(unmanned surface vehicle, USV)局部转向避碰路径规划算法。首先, 基于速度障碍法和障碍物区域分层方法, 获取无人船固定航速条件下的航向角约束解析结果。然后, 基于该约束条件及障碍物探测情况设计FSM的有限状态及执行动作和状态迁移条件, 其中, 通过转向控制实现向目标位点或缓冲位点进行导航的状态为FSM的2个重要状态。最终通过FSM的执行实现局部转向避碰路径规划。仿真结果表明提出的多障碍物避碰算法具有可行性和实用性。该方法易于改进和扩展, 且容易与当前主流的无人船控制系统结合, 有利于无人船避碰系统快速工程化的实现。
关键词:无人船局部避碰路径规划位点导航有限状态机
DOI：10.11759/hykx20171011010
分类号:
基金项目:国家重点研发计划(2017YFC1405203); 国家自然科学基金(61401111); 国家海洋公益性行业科研专项(201505005-2)

Local steering collision avoidance path planning algorithm based on finite state machine model
WANG Dong,ZHANG Jie,JIN Jiu-cai,MAO Xing-peng
Abstract:
In this paper, we propose a local collision avoidance algorithm based on the finite state machine (FSM) model for the unmanned surface vehicle (USV) operating in offshore environments with many obstacles such as reefs and fishing vessels. First, we obtain the analytical results for the heading constraint with a fixed USV speed based on the velocity obstacle method and an obstacle-area-stratification method. Then, we determine the finite states, which primarily contain the goal and buffer waypoint-guidance states. This is achieved by the steering control, execution actions, and state transition conditions of the FSM model, based on the given constraint conditions and situations of obstacle detection. Finally, local steering collision avoidance path planning is realized by the execution of the FSM model. The simulation results demonstrate that the proposed multi-obstacle avoidance algorithm is feasible and practical. This method is easy to improve and expand and is easily combined with the current mainstream USV control system. As such, our proposed algorithm can facilitate the rapid engineering of the USV collision avoidance system.
Key words:unmanned surface vehiclelocal avoidancepath planningwaypoint navigationfinite state machine





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