| 引用本文: | 敖邦乾,杨莎,曲祥君.改进蚁群算法水面无人艇平滑路径规划[J].控制理论与应用,2021,38(7):1006~1014.[点击复制] |
| aobangqian,yangsha,quxiangjun.Improved ant colony algorithm for unmanned surface vehicle smooth path planning[J].Control Theory and Technology,2021,38(7):1006~1014.[点击复制] |
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| 改进蚁群算法水面无人艇平滑路径规划 |
| Improved ant colony algorithm for unmanned surface vehicle smooth path planning |
| 摘要点击 2749 全文点击 649 投稿时间：2020-10-22 修订日期：2021-01-04 |
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| DOI编号 10.7641/CTA.2021.00735 |
| 2021,38(7):1006-1014 |
| 中文关键词 蚁群算法 路径规划 路径平滑 算法优化 |
| 英文关键词 Ant colony algorithm path planning path smoothing algorithm optimization |
| 基金项目 遵义市校联合科技研发资金项目(遵市科合HZ字[2020]16号, 遵市科合HZ字[2020]10号)资助. |
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| 中文摘要 |
| 针对水面无人艇的路径规划, 首先用仿生学算法对环境障碍物做开运算, 提出改进的蚁群算法搜索可行路
径得到航路点序列, 优化合并没有障碍物的相邻航路点并顺序连接, 得到可行且无碰撞风险的全局路径; 其次, 使
用Dubins曲线算法对连接点进行平滑处理, 分析其几何特性并找出其不足之处; 最后, 引入贝塞尔三阶曲线理论对
于已经优化过的折线段进行平滑处理, 使其在满足最小旋转半径的同时, 也满足USV动力学特性, 最终得到一条优
化可行的路径. 仿真结果证明本算法设计的光滑路径在计算复杂度、路径优化等方面都有了较大的提高. |
| 英文摘要 |
| For the path planning strategy of the unmanned surface vehicle (USV). Firstly, method of bionics opening
operation algorithm was proposed to calculate the environmental obstacles, and then an improved ant colony algorithm was
implemented to obtain way-points sequence for searching for feasible path. Those adjacent way-points which have no obstacles
were optimized and merged, and then were connected sequentially. A feasible global path without collision risk was
achieved. Secondly, Dubins curve algorithm was applied to smooth the connected points and its shortcomings were pointed
out through analyzing its geometric characteristics. Finally, third-order Bezier curve theory was introduced to smooth the
optimized poly-line segment path, which not only meet the minimum radius of rotation but also the dynamic characteristics
of USV. An optimized feasible path was then obtained. The simulation results also proved that the proposed methods were
greatly improved in terms of computational complexity and path optimization compared with other algorithms. |
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