| 基于改进动态窗口法的无人水面艇自主避碰算法 |
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| 引用本文： | 刘渐道,刘文,张英俊,李元奎.基于改进动态窗口法的无人水面艇自主避碰算法[J].上海海事大学学报,2021,42(2):1-7. |
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| 作者姓名： | 刘渐道 刘文 张英俊 李元奎 |
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| 作者单位： | 大连海事大学航海学院,中国交通通信信息中心交通安全应急信息技术国家工程实验室,大连海事大学航海学院,大连海事大学航海学院 |
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| 基金项目： | 国家自然科学基金（51679025,51709032）；中央高校基本科研业务费专项资金(3132019313); 大连海事大学教改项目（2020Y6） |
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| 摘 要： | 为研究避碰规则、无人水面艇(unmanned surface vessel, USV)运动学特点和海上交通复杂度等因素约束下的USV自主避碰技术,在分析初始动态窗口法的基础上,考虑《国际海上避碰规则》(International Regulations for Preventing Collisions at Sea, COLREGs)关于避碰行动时机、避让幅度、复航时机等方面的要求,建立融合避碰规则的动态窗口模型,设计融合避碰规则的动态窗口法。通过对比仿真实验验证该方法的可行性和有效性,具有一定的现实意义。
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| 关 键 词： | 无人水面艇（USV） 动态窗口法 COLREGs 自主避碰 |
| 收稿时间： | 2020/5/11 0:00:00 |
| 修稿时间： | 2020/7/8 0:00:00 |
Automatic collision avoidance algorithm of unmanned surface vessels based on improved dynamic window approach |
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| Abstract: | In order to study the automatic collision avoidance technology of unmanned surface vessels (USVs), considering the constraints of collision avoidance rules, USV kinematic characteristics and the complexity of maritime traffic, the dynamic window model subject to collision avoidance rules is established based on the analysis of the original dynamic window approach. In the model, the requirements of International Regulations for Preventing Collisions at Sea (COLREGs), such as the time of collision avoidance action, the range of collision avoidance action and the time to go back to the channel, are considered. The dynamic window algorithm subject to collision avoidance rules is designed. The feasibility and effectiveness of the method are verified by comparative simulation experiments, which shows that the method is of certain practical significance. |
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| Keywords: | unmanned surface vessel (USV) dynamic window approach COLREGs automatic collision avoidance |
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