【作者】 李琪凡； 袁子建； 唐国元；

【Author】 LI Qi-fan;YUAN Zi-jian;TANG Guo-yuan;School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology;

【机构】 华中科技大学船舶与海洋工程学院；

【摘要】 针对无人艇航行路径规划问题,本文采用栅格法完成区域的地图建模,并基于环境地图对其路径进行规划。首先获取到无人艇航行区域的平面地图图像,其次在Matlab软件中载入该地图图像并进行二值化处理,使其成为只有黑白两种颜色的图像,将处理后的地图图像以数组的形式保存在Matlab软件当中。这样计算机就可以识别无人艇航行所在的区域,最后对无人艇进行路径规划。更多还原

【Abstract】 For the problem of unmanned vehicle navigation area map modeling, the grid method is used to complete the description of the map information. Firstly, obtain the flat map image of the unmanned vehicle sailing area. And then, use Matlab to download the map image and use binarization way to get an image which has only two colors in black and white.Save the image in the Matlab by using array. So the PC can get the area that the unmanned vehicle can arrive. Finally, formulate the trajectory planning of the unmanned vehicle.更多还原