【摘要】 针对水面无人艇对探测到的电子海图上没有标示的动态障碍物的规避问题,提出符合国际海上避碰规则公约的规避方法,将动态障碍物某一运动时刻转换为相对无人艇瞬时静止的状态,对避障模型进行实时计算;并通过粒子群优化算法解算出无人艇进行避障所需的最优航速和航向改变量。仿真实验表明,该方法可得到合理的规避策略,有效地完成动态障碍物的规避任务。更多还原

【Abstract】 To solve the problem for the unmanned surface vehicle( USV) avoiding the dynamic obstacle which is not marked on an electronic chart,a dynamic obstacle avoidance method complies the international regulations for preventing collisions at sea( COLREGS) are presented. The dynamic obstacles are converted into an instantaneous static state related to USV in a motion moment,so as to compute the optimal speed and heading in real-time for the USV to avoid the obstacles by particle swarm optimization algorithm. Simulation experiments demonstrate that the dynamic obstacle avoidance method can calculate a reasonable avoidance strategy and accomplish the dynamic obstacle avoidance task effectively.更多还原