【摘要】：路徑規(guī)劃是目前關(guān)于水面無(wú)人艇研究方向的重要內(nèi)容之一。水面無(wú)人艇在海上航行具有高速化和智能化的特點(diǎn),要求無(wú)人艇能自適應(yīng)的規(guī)避海上的障礙物。無(wú)人艇路徑規(guī)劃包括全局路徑規(guī)劃和局部路徑規(guī)劃。其中,全局路徑規(guī)劃一般采取基于電子海圖的靜態(tài)方法實(shí)現(xiàn)。在水面無(wú)人艇高速航行的過(guò)程中,未知信息的動(dòng)態(tài)局部路徑規(guī)劃更為重要,而在航行的過(guò)程中同時(shí)滿足《1972年國(guó)際海上避碰規(guī)則》是一難點(diǎn)。因此,結(jié)合《1972年國(guó)際海上避碰規(guī)則》對(duì)水面無(wú)人艇局部路徑規(guī)劃進(jìn)行研究具有重要意義。本文主要研究工作如下:1.總結(jié)分析國(guó)內(nèi)外水面無(wú)人艇現(xiàn)有路徑規(guī)劃方法及其優(yōu)缺點(diǎn),通過(guò)對(duì)水面無(wú)人艇路徑規(guī)劃研究進(jìn)行分類綜述和分析,從獲取環(huán)境空間障礙物的方式,將水面無(wú)人艇路徑規(guī)劃分為基于海洋環(huán)境信息的全局路徑規(guī)劃和基于傳感器信息的局部路徑規(guī)劃。2.根據(jù)《1972年國(guó)際海上避碰規(guī)則》,結(jié)合水面無(wú)人艇速度快和體積小等特點(diǎn),以無(wú)人艇船位為圓心,無(wú)人艇航向?yàn)?00°,對(duì)無(wú)人艇會(huì)遇局面進(jìn)行定量劃分�；诖敖嚯x會(huì)遇距離模型,采用模糊綜合評(píng)判的方法,建立適用于無(wú)人艇的碰撞危險(xiǎn)度模型。3.設(shè)計(jì)水面無(wú)人艇局部路徑規(guī)劃多目標(biāo)遺傳算法。以最短局部路徑和最小航向改變量為優(yōu)化目標(biāo),以船舶近距離會(huì)遇距離模型和《1972年國(guó)際海上避碰規(guī)則》為約束條件,采用基于序值和擁擠距離的錦標(biāo)賽選擇算子進(jìn)行遺傳操作。當(dāng)障礙物與路徑段相交時(shí),提出了一種基于定比分點(diǎn)法和判別式法的路徑點(diǎn)修復(fù)方法。4.驗(yàn)證了水面無(wú)人艇局部路徑規(guī)劃模型與算法�；贛ATLAB R2015b平臺(tái),設(shè)計(jì)了對(duì)遇局面,交叉相遇局面和帶有靜態(tài)障礙的多船會(huì)遇局面進(jìn)行仿真驗(yàn)證。實(shí)驗(yàn)結(jié)果為水面無(wú)人艇能成功避讓多個(gè)障礙物,找到滿足模型與算法的最優(yōu)路徑。表明本文設(shè)計(jì)的水面無(wú)人艇局部路徑規(guī)劃方法具有一定的可行性和有效性。
[Abstract]:Path planning is one of the important contents of research on surface unmanned craft. The navigation of surface unmanned craft has the characteristics of high speed and intelligence, which requires the unmanned craft to avoid obstacles at sea adaptively. The path planning of unmanned craft includes global path planning and local path planning. Among them, the global path planning is generally based on the static method of electronic chart. Dynamic local path planning of unknown information is more important in the course of high speed navigation of surface unmanned craft, but it is difficult to meet the 1972 International rules for preventing collisions at Sea simultaneously in the course of navigation. Therefore, it is of great significance to study the local path planning of surface unmanned craft combined with the 1972 International Code for preventing collisions at Sea. The main work of this paper is as follows: 1. This paper summarizes and analyzes the existing path planning methods and their merits and demerits of surface unmanned craft at home and abroad. By classifying and summarizing the research on path planning of surface unmanned craft, the way of acquiring environmental space obstacle is obtained. The path planning of surface unmanned craft is divided into global path planning based on marine environment information and local path planning based on sensor information. 2. According to the International rules for preventing collision at Sea in 1972, combined with the characteristics of fast speed and small volume of surface unmanned craft, taking the position of unmanned boat as the center of circle and the heading of unmanned craft as 000 擄, the situation of unmanned craft will be quantitatively divided. Based on the close distance model and fuzzy comprehensive evaluation method, a collision risk model for unmanned craft is established. Multi-objective genetic algorithm for local path planning of surface unmanned craft is designed. Taking the shortest local path and the minimum course change as the optimization objective, taking the short distance model and the 1972 International rules for preventing collisions at Sea as the constraint conditions, the tournament selection operator based on order value and congestion distance is used to carry out genetic operation. When the obstacle intersects with the path segment, a path point repair method based on the fixed score point method and the discriminant method is proposed. 4. The local path planning model and algorithm of surface unmanned craft are verified. Based on the MATLAB R2015b platform, the simulation verification of the encounter situation, the cross encounter situation and the multi-ship encounter situation with static obstacle is designed. The experimental results show that the surface unmanned craft can successfully avoid many obstacles and find the optimal path to satisfy the model and algorithm. The results show that the local path planning method designed in this paper is feasible and effective.
【學(xué)位授予單位】：大連海事大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：U665.26

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