无人水面艇岛礁海域完全遍历路径规划

doi:10.3969/j.issn.1007-2861.2016.07.020

上海大学学报(自然科学版) ›› 2017, Vol. 23 ›› Issue (1): 17-26.doi: 10.3969/j.issn.1007-2861.2016.07.020

无人水面艇岛礁海域完全遍历路径规划

钟雨轩, 葛磊, 张鑫, 彭艳, 杨毅, 李小毛

上海大学机电工程与自动化学院, 上海200072

收稿日期:2017-01-04 出版日期:2017-02-28 发布日期:2017-02-28
通讯作者: 李小毛(1981—), 男, 研究员, 研究方向为图像处理、雷达数据处理、无人艇环境感知、导航和控制及其总体技术. E-mail: lixiaomao@shu.edu.cn
作者简介:李小毛(1981—), 男, 研究员, 研究方向为图像处理、雷达数据处理、无人艇环境感知、导航和控制及其总体技术. E-mail: lixiaomao@shu.edu.cn
基金资助:
国家自然科学基金资助项目(61403245, 51675318, 61673254); 上海市科委能力建设资助项目(14500500400)

Complete coverage path planning of USV used for mapping round island

ZHONG Yuxuan, GE Lei, ZHANG Xin, PENG Yan, YANG Yi, LI Xiaomao

School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China

Received:2017-01-04 Online:2017-02-28 Published:2017-02-28

摘要/Abstract

摘要：

针对无人水面艇(unmanned surface vehicle, USV)对岛礁海域自主测绘时存在的任务计算量大、场景复杂等问题, 提出了一种考虑主动方向的动态栅格法与启发式搜索算法. 该方法基于动态栅格法进行环境建模, 利用优先级启发式算法选择进行遍历的路径点, 并在无人水面艇陷入死锁时通过启发式搜索算法产生走出死锁点的最优路径. 仿真实验结果表明, 该方法能使路径规划的性能得到较大的提升, 且规划出的路径更为合理有效, 满足无人水面艇对岛礁区域测绘时的路径需求.

关键词: 动态栅格法, 路径规划, 启发式搜索算法, 无人水面艇, 优先级启发式算法

Abstract:

When mapping the seabed around islands independently, there are difficulties like large amount of calculation and complex task scene for mapping with an unmanned surface vehicle (USV). To solve the problems, an algorithm composed of a dynamic grids algorithm for main motion direction and a heuristic search algorithm is proposed. This algorithm establishes an environmental model based on the dynamic grids algorithm. The heuristic algorithm based on priority is used to choose an appropriate path point to travel. When the USV getting into a deadlock, an optimal path is generated with the heuristic search algorithm to get out. Simulation results show that performance of path planning is improved with the proposed algorithm. The planned path is more reasonable and effective to meet the needs when using USV to map the seabed around an island.

Key words: dynamic grids algorithm , heuristic algorithm based on priority , heuristic search algorithm, path planning , unmanned surface vehicle (USV)

钟雨轩, 葛磊, 张鑫, 彭艳, 杨毅, 李小毛. 无人水面艇岛礁海域完全遍历路径规划[J]. 上海大学学报(自然科学版), 2017, 23(1): 17-26.

ZHONG Yuxuan, GE Lei, ZHANG Xin, PENG Yan, YANG Yi, LI Xiaomao. Complete coverage path planning of USV used for mapping round island[J]. Journal of Shanghai University（Natural Science Edition）, 2017, 23(1): 17-26.

参考文献

[1] 周玉坤. 基于GNSS 及物探方法的近海岛礁勘测技术研究[D]. 沈阳: 东北大学, 2014.
[2] Petillot Y R, Reed S R, Bell J M. Real time AUV pipeline detection and tracking using side scan sonar and multi-beam echo-sounder [C]// Oceans. 2002: 217-222.
[3] Yan R J, Pang S, Sun H B, et al. Development and missions of unmanned surface vehicle [J]. Journal of Marine Science and Application, 2010, 9(4): 451-457.
[4] Yan M Z, Zhu D Q. An algorithm of complete coverage path planning for autonomous underwater vehicles [J]. Key Engineering Materials, 2011, 467/468/469: 1377-1385.
[5] DeCarvalho R N, Vidal H A, Vieira P, et al. Complete coverage path planning and guidance for cleaning robots [C]// IEEE International Symposium on Industrial Electronics. 1998: 677-682.
[6] Wu J H, Qin T D, Chen J, et al. Complete coverage path planning and obstacle avoidance strategy of the robot [J]. Advanced Materials Research, 2014, 756/757/758/759: 497-503.
[7] McCulloch W S, Pitts W. A logical calculus of the ideas immanent in nervous activity [M]. Cambridge: The MIT Press, 1943: 115-133.
[8] Hodgkin A L, Huxley A F. A quantitative description of membrane current and its application to conduction and excitation in nerve [J]. Bulletin of Mathematical Biology, 1990, 117(1): 500-544.
[9] Stephen G. Nonlinear neural networks: principles, mechanisms, and architectures [J]. Neural Networks, 1988, 1(1): 17-61.
[10] Yang S X, Luo C. A neural network approach to complete coverage path planning [J]. IEEE Transactions on Systems Man & Cybernetics Part B Cybernetics A, 2004, 34(1): 718-725.
[11] 邱雪娜, 刘士荣, 俞金寿, 等. 移动机器人的完全遍历路径规划: 生物激励与启发式模板方法[J]. 模式识别与人工智能, 2006, 19(1): 122-128.
[12] 邱雪娜, 刘士荣, 宋加涛, 等. 不确定动态环境下移动机器人的完全遍历路径规划[J]. 机器人, 2006, 28(6): 586-592.
[13] 王妹婷, 齐永锋, 陆柳延, 等. 双向清洗机器人玻璃幕墙完全遍历路径规划[J]. 机械设计与制造, 2013(11): 211-213.
[14] Liu X, Qin N, Xia H. Fast dynamic grid deformation based on Delaunay graph mapping [J]. Journal of Computational Physics, 2006, 211(2): 405-423.
[15] Richards N, Sharma M, Ward D. A hybrid A*/automaton approach to on-line path planning with obstacle avoidance [C]// AIAA 1st, Intelligent Systems Technical Conference. 2004: 6629.
[16] Canny J. The complexity of robot motion planning [M]. Cambridge: The Mit Press, 1987: 27-32.
[17] Choset H. Coverage for robotics—a survey of recent results [J]. Annals of Mathematics and Artificial Intelligence, 2001, 31(1): 113-126.

无人水面艇岛礁海域完全遍历路径规划

Complete coverage path planning of USV used for mapping round island

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 8

编辑推荐

Metrics

本文评价

[1]	史云阳, 苗阳, 席殷飞, 张奇, 刘志远. 考虑交通环境和纯电动汽车电池电量的动态路径规划方法[J]. 上海大学学报(自然科学版), 2020, 26(3): 353-366.
[2]	韩知玖, 吴文江, 李孝伟, 张丹, 李春欣. 一种改进的动力学约束人工势场法[J]. 上海大学学报(自然科学版), 2019, 25(6): 879-887.
[3]	陈伟, 杨毅, 李小毛, 刘远, 张鑫. 基于目标候选的 USV 海上船艇检测[J]. 上海大学学报(自然科学版), 2019, 25(5): 668-678.
[4]	彭艳, 葛磊, 李小毛, 钟雨轩, 张鑫. 无人水面艇研究现状与发展趋势[J]. 上海大学学报(自然科学版), 2019, 25(5): 645-654.
[5]	高明柯, 陈一民, 张典华, 黄晨, 李泽宇. 基于改进蚁群算法的血管介入手术路径规划[J]. 上海大学学报(自然科学版), 2019, 25(2): 198-205.
[6]	李小毛, 张鑫, 王文涛, 瞿栋, 祝川. 基于3D激光雷达的无人水面艇海上目标检测[J]. 上海大学学报(自然科学版), 2017, 23(1): 27-36.
[7]	张洋洋, 瞿栋, 柯俊, 李小毛. 基于速度障碍法和动态窗口法的无人水面艇动态避障[J]. 上海大学学报(自然科学版), 2017, 23(1): 1-16.
[8]	胡辛明1, 张鑫1, 钟雨轩1, 彭艳青2, 杨毅1, 姚骏峰1. 无人水面艇仿真系统设计与实现[J]. 上海大学学报(自然科学版), 2017, 23(1): 56-67.