实时避碰的无人水面机器人在线路径规划方法

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Title:

Online path planning of an unmanned surface vehicle for real-time collision avoidance

作者:

冷静^1,2, 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 Jing^1,2, 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 planning; velocity obstacle; Convention 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.