Research on Autonomous Path Planning of Unmanned Surface Vehicle in Ocean Environment

摘要

Aiming at the problem of local path planning of unmanned surface vehicle (USV) operating in marine environment, an enhanced artificial potential field algorithm (EAPF) is proposed to solve it. Firstly, the traditional artificial potential field algorithm is improved to optimize the repulsion field. Secondly, in order to avoid local oscillation of the traditional APF algorithm, a virtual target is proposed to avoid of the local minimum. Finally, we establish the marine environmental force model, and the calculated position is revised in real time on the basis of dynamic environment forces. Simulation results show that the algorithm converges quickly, and the technique suppresses oscillations of the vehicle. The path, which is calculated by EAPF, has high smoothness. Additionally, the proposed algorithm can adjust the navigation path in real time according to the environmental information such as wind, waves and current, meanwhile, USV’s safety can be ensured.