|本期目录/Table of Contents|

[1]张丰,廖卫强,乔中飞,等.基于改进人工势场法的无人船路径规划[J].集美大学学报(自然科学版),2023,28(2):150-155.
　ZHANG Feng,LIAO Weiqiang,QIAO Zhongfei,et al.Path Planning of Unmanned Ship Based on Improved Artificial Potential Field Method[J].Journal of Jimei University,2023,28(2):150-155.
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《集美大学学报（自然科学版）》[ISSN:1007-7405/CN:35-1186/N]

卷:
第28卷
期数:
2023年第2期
页码:
150-155
栏目:
船舶与机械工程
出版日期:
2023-03-28

文章信息/Info

Title:
Path Planning of Unmanned Ship Based on Improved Artificial Potential Field Method
作者:
张丰1; 廖卫强1; 2; 乔中飞1; 李光泽1
（1.集美大学轮机工程学院，福建 厦门 361021;2.福建省船舶与海洋工程重点实验室，福建 厦门 361021）
Author(s):
ZHANG Feng1; LIAO Weiqiang1; 2; QIAO Zhongfei1; LI Guangze1
(1.School of Marine Engineering,Jimei University,Xiamen 361021,China;2.Fujian Provincial Key Laboratory of Naval Architecture and Marine Enigineering,Xiamen 361021,China)
关键词:
无人船; 路径规划; 人工势场法; 局部极小值; 随机扰动; 路径振荡
Keywords:
unmanned ship; path planning; artificial potential field method; local minimum; random disturbance; path of oscillation
分类号:
-
DOI:
-
文献标志码:
A
摘要:
针对传统人工势场法无人船路径规划中无法到达目标点、局部极小值、路径振荡的问题，提出了一种改进人工势场法。修改斥力函数，解决无人船无法到达目标点问题；施加艏向角限制，增加随机扰动，解决无人船存在的两种局部极小值问题；进行路径简化，解决无人船路径振荡的问题。将改进人工势场法与传统人工势场法进行仿真比较，结果证明，改进人工势场法可以有效地克服无法到达目标点的问题，并能够在陷入局部极小值之后成功跳出，路径振荡的问题也得到改善。可为无人船的路径规划技术研究提供更多思路。
Abstract:
In this paper, an improved artificial potential field method is proposed to solve the problems of the traditional artificial potential field method in the path planning of unmanned ship, such as the inability reaching the target point, local minimum value and path oscillation. Firstly, the repulsion function was modified to solve the problem that unmanned ship cannot target. Secondly, the two local minimum problems of unmanned ship were solved by applying bow angle limit and random disturbance. Thirdly, the problem of unmanned ship path oscillation was solved by simplifying the path. Finally, comparisons were conducted between the results from simulations from the improved artificial potential field method and the traditional artificial potential field method. The results show that the improved artificial potential field method can effectively overcome the problem of being unable to reach the target point, and can successfully jump out after falling into the local minimum value, and the problem of path oscillation also can be improved. provided more ideas for the research of path planning technology for unmanned ships.

参考文献/References:

相似文献/References:

[1]廖卫强,周宣达.动态环境中基于遗传算法的机器人路径规划[J].集美大学学报(自然科学版),2012,17(1):60.
　LIAO Wei-qiangZHOU Xuan-da.Soccer Robot Path-planning Based on GeneticAlgorithms in Dynamic Environment[J].Journal of Jimei University,2012,17(2):60.
[2]刘文霞,王荣杰,郜怀通,等.基于量子粒子群算法的无人水面艇路径规划[J].集美大学学报(自然科学版),2023,28(1):34.
　LIU Wenxia,WANG Rongjie,GAO Huaitong,et al.Path Planning of Unmanned Surface Vehicle Based on Quantum Particle Swarm Optimization[J].Journal of Jimei University,2023,28(2):34.

备注/Memo

备注/Memo:
更新日期/Last Update: 2023-07-13