| 复杂水域慎思型避碰轨迹规划 |
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| 引用本文： | 秦操,杨荣武.复杂水域慎思型避碰轨迹规划[J].上海海事大学学报,2020,41(3):12-18. |
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| 作者姓名： | 秦操 杨荣武 |
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| 作者单位： | 上海交通大学高新船舶与深海开发装备协同创新中心,上海 200240;海思特海事技术(上海)有限公司,上海 200241 |
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| 摘 要： | 为解决复杂水域的船舶自主避碰问题,提出一种基于A~*算法的慎思型避碰轨迹规划算法,旨在满足船舶操纵性约束、静态与动态障碍物约束和《国际海上避碰规则》(International Regulations for Preventing Collisions at Sea,COLREGs)约束下,规划出一条最经济的航行轨迹。通过无人三体船自主避碰试验和模拟试验,验证算法的有效性,具有较高的参考价值。
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| 关 键 词： | 船舶 自主避碰 慎思型轨迹规划 COLREGs 操纵性约束 |
| 收稿时间： | 2019/11/26 0:00:00 |
| 修稿时间： | 2020/2/15 0:00:00 |
Deliberative collision avoidance trajectory planning for complex waters |
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| Institution: | Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration |
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| Abstract: | To solve the problem of ship autonomous collision avoidance in complex waters, a deliberative collision avoidance trajectory planning algorithm based on A* algorithm is proposed, which aims to plan a most economical sailing trajectory with the ship maneuverability constraints, static and dynamic obstacle constraints as well as International Regulations for Preventing Collisions at Sea (COLREGs) constraints. The effectiveness of the algorithm is verified by the unmaned trimaran autonomous collision avoidance test and the simulation test, which has high reference value. |
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| Keywords: | ship autonomous collision avoidance deliberative trajectory planning COLREGs maneuverability constraint |
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