[1]冷静,刘健,徐红丽.实时避碰的无人水面机器人在线路径规划方法[J].智能系统学报,2015,(03):343-348.[doi:10.3969/j.issn.1673-4785.201405012]
 LENG Jing,LIU Jiang,XU Hongli.Online path planning of an unmanned surface vehicle for real-time collision avoidance[J].CAAI Transactions on Intelligent Systems,2015,(03):343-348.[doi:10.3969/j.issn.1673-4785.201405012]
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实时避碰的无人水面机器人在线路径规划方法(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
期数:
2015年03期
页码:
343-348
栏目:
出版日期:
2015-06-25

文章信息/Info

Title:
Online path planning of an unmanned surface vehicle for real-time collision avoidance
作者:
冷静12 刘健1 徐红丽1
1. 中国科学院 沈阳自动化研究所, 辽宁 沈阳 110016;
2. 中国科学院大学, 北京 100049
Author(s):
LENG Jing12 LIU Jiang1 XU Hongli1
1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China
关键词:
无人水面机器人在线路径规划速度避障法国际海上避碰规则公约混合整数线性规划动态环境
Keywords:
unmanned surface vehicle (USV)online path planningvelocity obstacleConvention on the International Regulations for Preventing Collisions at Sea (COLREGs)mixed-integer linear programming (MILP)dynamic environment
分类号:
TP242
DOI:
10.3969/j.issn.1673-4785.201405012
文献标志码:
A
摘要:
针对动态环境下,无人水面机器人(USV)必须遵守国际海上避碰规则公约且实时在线路径规划的难题,提出一种无人水面机器人在动态环境下进行在线路径规划的方法.此方法将国际海上避碰规则公约融入速度避障法,将速度避障法中的相对速度线性化,使其能作为约束融入混合整数线性规划器.同时将USV的本体动力学约束与环境约束结合,采用多目标函数作为优化函数,根据任务的要求选择距离优化函数、速度优化函数和遵守COLREGs目标函数等多个优化目标函数.最后,通过对USV在2种会遇情况规划路径的仿真实验分析,验证了此规划算法的有效性.
Abstract:
A new method of online path planning is proposed in order to solve the problem of online real-time path planning of the unmanned surface vehicle (USV) in a dynamic environment by complying with the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs). This method merges the International Regulations for Preventing Collisions at Sea with velocity obstacle (VO) to linearize relative speed of VO and to make VO merge with the mixed-integer linear programming (MILP) as a set of velocity constraints. The USV body dynamics constraints and environmental constraints are combined using multi-objective function as the optimization function and choosing distance, speed and abeyance COLREGS as target functions. Finally, the simulation for the path planning in the two situations of encounter is analyzed and the results show the effectiveness of this planning algorithm.

参考文献/References:

[1] CASALINO G, TURETTA A, SIMETTI E. A three-layered architecture for real time path planning and obstacle avoidance for surveillance USVs operating in harbour fields[C]//IEEE OCEANS 2009-Europe. Bremen, Germany, 2009: 1-8.
[2] International Maritime Organization. International regulations for prevention of collisions at sea, 1972 (COLREGs)[EB/OL].[2014-04-25]. http://www.imo.org/About/Conventions/ListOfConventions/Pages/COLREG.aspx.
[3] PERERA L P, CARVALHO J P, SOARES C G. Autonomous guidance and navigation based on the COLREGs rules and regulations of collision avoidance [C]//Proceedings of the International Workshop “Advanced Ship Design for Pollution Prevention”. Split, Croatia, 2009: 205-216.
[4] BENJAMIN M R, CURCIO J A, LEONARD J J, et al. Navigation of unmanned marine vehicles in accordance with the rules of the road[C]//2006 IEEE International Conference on Robotics and Automation. Orlando, USA, 2006: 3581-3587.
[5] KUWATA Y, WOLF M T, ZARZHITSKY D, et al. Safe maritime navigation with COLREGS, using velocity obstacles[C]//2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. San Francisco, USA, 4728-4734.
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备注/Memo

备注/Memo:
收稿日期:2014-5-6;改回日期:。
基金项目:中国科学院重点部署项目子课题(KGFZD-125-014).
作者简介:冷静,女,1990年生,硕士研究生,主要研究方向为无人水面机器人的在线路径规划.曾获中国科学院大学“三好学生”和国家奖学金.刘健,男,1962年生,研究员,主要研究方向为工业控制、图像跟踪、水下机器人控制和组合导航技术,主持完成国家重大项目多项. 徐红丽,女,1979年生,副研究员,工学博士,主要研究方向为水下机器人控制、水下声呐图像处理、多传感器数据融合与环境建模.曾主持国家自然科学基金项目1项、国家“863”计划项目1项,并参与国家及省部级重点项目多项,发表学术论文10余篇.
通讯作者:冷静. E-mail: jingleng77@163.com.
更新日期/Last Update: 2015-07-15