无人船实时路径规划与编队控制仿真研究

doi:10.16182/j.issn1004731x.joss.22-0002

系统仿真学报 ›› 2023, Vol. 35 ›› Issue (5): 957-970.doi: 10.16182/j.issn1004731x.joss.22-0002

无人船实时路径规划与编队控制仿真研究

宋大雷¹^,²(), 干文浩¹, 许嘤枝³, 曲秀青¹, 曹江丽⁴()

^1.中国海洋大学工程学院，山东青岛 266100
^2.中国海洋大学海洋高等研究院，山东青岛 266100
^3.中国海洋大学信息科学与工程学部，山东青岛 266100
^4.中国船舶重工集团公司第七〇九研究所，湖北武汉 430205

收稿日期:2022-01-03 修回日期:2022-02-10 出版日期:2023-05-30 发布日期:2023-05-22
通讯作者: 曹江丽 E-mail:songdalei@ouc.edu.cn;jlcao_wh@163.com
作者简介:宋大雷(1971-)，男，教授，博导，博士，研究方向为海洋感知与控制等。E-mail：songdalei@ouc.edu.cn
基金资助:
十三五国防预研项目(995-02030503)

Simulation of Real-Time Path Planning and Formation Control for Unmanned Surface Vessel

Dalei Song¹^,²(), Wenhao Gan¹, Yingzhi Xu³, Xiuqing Qu¹, Jiangli Cao⁴()

^1.College of Engineering, Ocean University of China, Qingdao 266100, China
^2.Institute for Advanced Ocean Study, Ocean University of China, Qingdao 266100, China
^3.College of Information Science Engineering, Ocean University of China, Qingdao 266100, China
^4.709th Research Institute, China Shipbuilding Industry Corporation, Wuhan 430205, China

Received:2022-01-03 Revised:2022-02-10 Online:2023-05-30 Published:2023-05-22
Contact: Jiangli Cao E-mail:songdalei@ouc.edu.cn;jlcao_wh@163.com

摘要/Abstract

摘要：

安全和无碰撞导航是无人船正常航行的基础。通过Unity3D构建高保真的虚拟海洋环境，在无人船建模基础上，提出一种面向未知复杂环境的实时路径规划及编队控制方法。利用激光雷达获取的局部环境信息，在重规划的策略下，结合A-star以及航路抽稀方法完成实时局部路径规划。基于领航-跟随者策略与一致性方法进行编队控制，结合人工势场法完成多无人船的避障航行任务。在多种复杂地图上的仿真实验表明，该仿真系统具有较好的真实性和视觉效果，为无人船模拟试航提供了有效手段。同时，无人船群利用所提算法可以依次抵达预设航路点，自主变换队形实时避障，在工程应用中具有一定理论意义和实用性。

关键词: 无人船, 运动仿真, 场景模拟, 路径规划, 编队控制

Abstract:

Safety and collision-free navigation are the basis of normal navigation of an unmanned surface vessel. The high-fidelity virtual ocean is constructed by using Unity3D.On the basis of the vessel modeling, a real-time path planning and formation control method for unknown complex environments is proposed. Firstly, the local environment information is obtained by the laser sensor. Then the real-time local path planning is completed by combining A-star and route-thinning methods under the replanning strategy. In addition, formation control is carried out based on the leader-follower strategy and consistency method, and the artificial potential field is used to complete the navigation task of the unmanned surface vessel in terms ofobstacle avoidance. The simulation experiments on various complex scenarios show that the system has excellent authenticity and visual effects and provides an effective means for simulating vessel navigation. At the same time, based on the proposed algorithm, the vessel fleet can arrive at the preset waypoints successively and independently change the formation to avoid obstacles in real-time, which has certain theoretical significance and practicability in engineering applications.

Key words: unmanned surface vessel, motion simulation, scenario simulation, path planning, formation control

中图分类号:

TP24

宋大雷, 干文浩, 许嘤枝, 曲秀青, 曹江丽. 无人船实时路径规划与编队控制仿真研究[J]. 系统仿真学报, 2023, 35(5): 957-970.

Dalei Song, Wenhao Gan, Yingzhi Xu, Xiuqing Qu, Jiangli Cao. Simulation of Real-Time Path Planning and Formation Control for Unmanned Surface Vessel[J]. Journal of System Simulation, 2023, 35(5): 957-970.

图/表 21

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表5

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参数	取值
总长/m	7.970
设计水线长/m	7.443
总宽/m	2.980
型宽/m	2.880
总高/m	2.400
正常排水量/t	4.665
正常排水吃水/m	0.512

名称	描述	B₀中的速度	E₀中的位姿	名称	描述	B₀中的速度	E₀中的位姿
进退(surge)	沿x轴的直线运动	u	x	横滚(roll)	沿x轴的转动	p	φ
侧移(sway)	沿y轴的直线运动	v	y	纵倾(pitch)	沿y轴的转动	q	θ
起浮(heave)	沿z轴的直线运动	w	z	回转(yaw)	沿z轴的转动	r	ψ

描述	取值
视野宽度(°)	360
有效量程/m	100
距离分辨率/cm	1
角度分辨率(°)	20
扫描频率/Hz	25

无人船	起始位置/m	起始相位/(°)
领航者	(110, 60)	-90
1号跟随者	(30, 100)	-180
2号跟随者	(160, 70)	-135
3号跟随者	(40, 40)	-180
4号跟随者	(70, 40)	-90

航迹	路径长度/m	航行时间/s
本文所提算法	1 446.68	662.34
未考虑编队队形变换	3 429.52	1 535.34

无人船实时路径规划与编队控制仿真研究

Simulation of Real-Time Path Planning and Formation Control for Unmanned Surface Vessel

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