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首页> 外文期刊>Ocean Engineering >Study on intelligent collision avoidance and recovery path planning system for the waterjet-propelled unmanned surface vehicle
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Study on intelligent collision avoidance and recovery path planning system for the waterjet-propelled unmanned surface vehicle

机译：Waterjet-Propelled无人面车辆智能碰撞避税和恢复路径规划系统研究

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摘要

To avoid collision accidents and achieve independent recovery in the cluttered marine environment, this work proposes an intelligent path planning system for a waterjet-propelled unmanned surface vehicle (USV). Unlike the existing works on USV navigation systems, our study focuses on the real-time, smoothness and seaworthiness properties of the path in practical clutter environments. A hybrid A* algorithm with motion primitive constraints is proposed to generate an initial reference path. According to different types of dynamic obstacles, the International Regulations for Preventing Collisions at Sea (COLREGs) rules are used, and a local threat map based on the Apollonius circle is constructed to avoid these obstacles. Together with the motion characteristics of the waterjet-propelled USV, the Reeds-Shepp curve is used to calculate the autonomous recovery path. The performance of the proposed intelligent navigation system is verified in a practical marine environment. The experimental results show that our hybrid A* algorithm outperforms the conventional A* algorithm, and it is easy for the waterjet-propelled USV to follow the final continuous curvature path. It was demonstrated that our method can effectively avoid various static and dynamic obstacles in real time and thus help achieve autonomous recovery.
机译：为避免碰撞事故并在杂乱的海洋环境中实现独立恢复，这项工作提出了一种智能路径规划系统，适用于水射流的无人面车辆（USV）。与USV导航系统上的现有工作不同，我们的研究侧重于实际杂波环境中路径的实时，平滑度和可养活性质。提出了一种具有运动原三约束的混合动力A *算法来生成初始参考路径。根据不同类型的动态障碍，使用用于防止海上碰撞的国际法规（Colregs）规则，并且构建基于Apollonius圈的局部威胁地图以避免这些障碍。芦苇Shepp曲线与Waterjet推进USV的运动特性一起用于计算自主恢复路径。所提出的智能导航系统的性能在实际的海洋环境中验证。实验结果表明，我们的混合A *算法优于传统的A *算法，并且可以轻松地推进USV以遵循最终连续曲率路径。有人证明，我们的方法可以实时有效避免各种静态和动态障碍，从而有助于实现自主恢复。

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