蒲红红¹, 黄海滨^2,3,4
1.哈尔滨工业大学 电子与信息工程学院;2.哈尔滨工业大学(威海) 信息与电气工程学院;3.山东船舶技术研究院;4.海洋通信与组网观测技术威海市重点实验室

摘要:
针对无人水面航行器(unmanned surface vehicle, USV)的路径规划问题, 提出了基于粒子群优化算法(particle swarm optimization, PSO)和费马螺旋曲线(Fermat’s spiral, FS)的全局路径规划算法。首先,采用PSO全局路径规划算法, 搜索航路点序列并将其顺序连接, 以获得可行、最短且绝对安全的折线路径。其次, 利用FS 曲率可从零变化且连续的特点, 设计FS 光顺折线路径策略, 使得所规划路径的方位和曲率均为连续函数, 进而可应用于精确的路径跟踪等运动控制中。考虑到USV的机动性能限制,在FS 过渡曲线设计中加入了最小回转半径约束。仿真结果表明, 本文所提方法能够生成一条满足USV自身机动性能限制, 且方位和曲率均为连续函数的可行光滑路径, 从而能够使得USV 实现真正意义上的完全自主航行。
关键词:无人水面航行器粒子群优化算法费马螺旋曲线最小回转半径约束
DOI：10.11759/hykx20171011008
分类号:
基金项目:中央高校基本科研业务费(HIT.KISTP.2014029); 山东省高等学校科技计划项目(J14LN93); 山东省自然科学基金项目(ZR2014FM023);山东省重大科技创新工程项目(2017CXGC0921); 哈尔滨工业大学(威海)学科引导基金(WH20160103, WH20160207); 威海市科技发展计划项目(2015DXGJZD003, 2015DXGJMS016); 哈尔滨工业大学研究生教育教学改革研究项目(JGYJ-2017050); 哈尔滨工业大学(威海)教学研究项目(BKQN201619)

Global path planning algorithm for unmanned surface vehicle
PU Hong-hong,HUANG Hai-bin
Abstract:
In this paper, we propose a method for solving the global path planning problem in unmanned surface vehicles (USVs) using particle swarm optimization (PSO) and Fermat’s spiral (FS). First, we use the PSO global path planning algorithm to determine and connect a sequence of waypoints to obtain the most feasible, shortest, and safest polyline path. Then, we designed a strategy for constructing a heading and curvature-continuous path using the properties of FS, which has zero curvature at its origin and a continuously varying curvature, so that the obtained path can be applied to motion control to improve the accuracy of path-following systems. Furthermore, taking into account the maneuverability limitation of the USV, we added a minimum-radius-of-rotation constraint to the FS transition curve design. Simulation results show that the proposed algorithm can generate a feasible and smooth path for autonomous USV maneuvers.
Key words:unmanned surface vehicle (USV)particle swarm optimization (PSO)Fermat’s spiral (FS)minimum radius of rotation constraint





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