摘要
提出一种可保证欠驱动水面船全时可跟踪的轨迹规划方法,重点解决欠驱动水面船任意初始状态下规划轨迹的可跟踪性与安全问题。首先,基于欠驱动水面船自身运动性能的约束以及随机初始状态生成可行状态包络,基于无人水面船运动学模型推演可行状态包络下固定时间内的可跟踪轨迹集;然后,从目标趋近性和航行安全性两方面对轨迹进行评价,决策出固定时间内的最优轨迹及被选中的轨迹点,并将被选中的轨迹点作为新的初始点;重复上述过程,可生成到目标点的全时间域可跟踪轨迹;最后,利用仿真验证了本算法可从不同初始状态下生成满足欠驱动水面船运动性能的安全可跟踪轨迹,并与典型的路径规划算法进行比较,验证所提出算法的优越性。
A planning method is proposed to generate a trackable trajectory for underactuated surface vessel with any initial state.Firstly,a feasible state envelope is generated based on the initial state and motion constraints of underactuated surface vessel.Based on the kinematic model of the unmanned surface vessel,the trackable trajectory set in fixed time under the feasible state envelope is deduced.Then,the trajectories are evaluated from the two aspects of target approaching and safety.An optimal trajectory and the corresponding trajectory point in a fixed time are determined.Then the selected trajectory point is used as the new initial point.By repeating the above process,the trackable trajectory to the target point in the whole time domain can be generated.Finally,the simulation results show that the proposed algorithm can generate the safe and trackable trajectory for the underactuated surface vessel with different initial states.Comparing with the typical path planning algorithm,the superiority of the proposed algorithm is verified.
作者
高双
柳春平
张瞳
陈坤
GAO Shuang;LIU Chunping;ZHANG Tong;CHEN Kun(School of Mechanical and Electrical,Shaoxing University,Shaoxing 312000,Zhejing,China)
出处
《船舶工程》
CSCD
北大核心
2022年第S01期459-466,共8页
Ship Engineering
基金
浙江省自然科学基金资助项目(LQ22E090007)
关键词
轨迹规划
欠驱动水面船
状态约束
航行安全
运动学
trajectory planning
underactuated surface vessel
state constraint
navigation safety
kinematics
