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

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

Abstract

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

CLC Number:

TP24

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.

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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