水面无人艇动态避碰策略研究

摘要

针对水面无人艇局部路径规划的局限性,本文提出基于水面无人艇操纵运动模型的动态智能避碰,根据海事规则将局面划分为对遇、交叉相遇以及追越3种局面,在MMG模型基础上,通过避碰模型改变USV的航速和航向,完成USV对动态障碍物的智能避碰.通过实验仿真表明,该方法有效地完成USV对动态障碍物的危险避碰,符合USV实际航行避碰操纵要求.%For the limitation of local path planning of USV, This paper puts forward the dynamic intelligent collision avoidance of USV maneuvering model. According to rules of maritime, dividing the situation for encountering, crossing and overtaking, on the base of MMG model, by changing the speed and course of USV through the collision avoidance tocom-plete the dynamic obstacle intelligent collision avoidance of USV. The simulation results show that this method effectively complete dynamic intelligent anti-collision of USV, according the actual navigational maneuvering requirements of USV.