摘要
由于无人艇所行驶的海洋环境比较复杂,因此无人艇智能系统中的路径规划系统显得越来越重要。针对A^(*)算法与动态窗口法(dynamic window algorithm,DWA)存在的不足之处,提出一种将二者进行结合的混合路径规划算法。通过对A^(*)算法得到的局部目标点进行迭代更新使水面无人艇(unmanned surface vessel,USV)利用DWA得到最佳搜索路径。仿真结果表明,提出的算法所搜索的路径长度以及路径的拐点相对于A^(*)算法分别缩短了21%和减少了59%,验证了所提算法的优越性。
As the marine environment in which the unmanned boat travels is more complicated,the path planning system in the intelligent system of the unmanned boat becomes more and more important.Aiming at the shortcomings of the A^(*) algorithm and the dynamic window algorithm(DWA),a hybrid path planning algorithm that combines the two is proposed.By iteratively updating the local target points obtained by the A^(*) algorithm,the unmanned surface vessel(USV)uses DWA to obtain the best search path.The simulation results show that the path length and path turning points searched by the algorithm proposed are reduced by 21% and 59% respectively compared with the A^(*) algorithm,which verifies the superiority of the proposed algorithm.
作者
李文刚
汪流江
方德翔
李玉玮
黄郡
LI Wengang;WANG Liujiang;FANG Dexiang;LI Yuwei;Huang Jun(School of Communication Engineering,Xidian University,Xi’an 710071,China;State Key Laboratory of Integrated Services Networks,Xidian University,Xi’an 710071,China;College of Electronic Engineering,National University of Defense Technology,Hefei 230037,China)
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2021年第12期3694-3702,共9页
Systems Engineering and Electronics
基金
中国教育部联合基金(6141A02022383)
中央高校基本科研业务费专项资金(20101195611)
轨道交通工程信息化国家重点实验室(中铁一院)开放课题研究项目(90109210022)资助课题。
关键词
水面无人艇
路径规划
混合路径规划
A^(*)算法
动态窗口法
unmanned surface vessel(USV)
path planning
hybrid path planning
A^(*) algorithm
dynamic window algorithm(DWA)
