摘要
针对无人艇(unmanned surface vessel,USV)在障碍地图中的避碰路径规划问题,提出一种基于改进蚁群算法的静态全局路径规划避碰方法,并面向未知障碍给出一种局部路径重规划方案。运用栅格法对障碍环境进行建模;通过设计复合启发函数,提出一种信息素动态给予机制,引入混沌优化算子,解决传统蚁群算法易落入局部最优解和收敛性差的问题;基于鱼群效应提出一种局部路径重规划方案,解决USV编队在遭遇未知障碍时的路径重规划问题。对由5艘USV组成的分布式编队系统进行仿真实验,验证了所提方法对编队避碰问题的有效性。
In view of the problem of collision avoidance path planning for unmanned surface vessel(USV)in obstacle maps,a static global path planning collision avoidance method based on improved ant colony algorithm and a local path re-planning scheme for unknown obstacles are proposed.The grid method is used to model the obstacle environment.By designing a composite heuristic function,proposing a dynamic pheromone giving mechanism,and introducing a chaotic optimization operator,the problems of traditional ant colony algorithms being prone to falling into local optima and having poor convergence are solved.Furthermore,based on the fish schooling effect,a local path re-planning scheme is proposed to solve the path re-planning problem of USV formations when encountering unknown obstacles.Simulation experiments on a distributed formation system consisting of five USVs are conducted to verify the effectiveness of the proposed method for collision avoidance in formation.
作者
刘伊婕
姜斌
马亚杰
李文博
刘成瑞
LIU Yijie;JIANG Bin;MA Yajie;LI Wenbo;LIU Chengrui(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;Engineering Research Center of Autonomous Control Technology of Aircraft,Ministry of Education,Nanjing 211106,China;National Key Laboratory of Space Intelligent Control,Beijing Institute of Control Engineering,Beijing 100094,China)
出处
《系统工程与电子技术》
北大核心
2025年第6期1964-1974,共11页
Systems Engineering and Electronics
基金
国家自然科学基金(62273177,62020106003,62233009)
江苏省自然科学基金(BK20211566,BK20222012)
高校学科创新引智基地(B20007)
空间智能控制技术全国重点实验室开放基金(HTKJ2023KL502006)
中央高校基本科研业务费(NI2024001)资助课题。
关键词
无人艇编队
路径规划
路径重规划
改进蚁群算法
混沌优化
unmanned surface vessel(USV)formation
path planning
path re-planning
improved ant colony algorithm
chaos optimization
