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요약정보
基于海图环境的无人艇全局路径规划
Resource Type
Academic Journal
Authors
马欣
;
杨兵
;
邱斌彬
;
王胜正
;
赵建森
Source
中国水运(上半月) / China Water Transport
. (8):41-43
Subject
电子海图
无人艇
路径规划
Language
Chinese
ISSN
1006-7973
Online Access
Full Text (CAJ - 경제/경영)
초록
无人艇作为一种性能高、体型小、能够执行各种危险任务的水上智能移动平台备受各国关注.本文在考虑无人艇的航行水深环境和其运动性能的基础上对无人艇全局路径规划展开研究,提出一种多约束的路径规划方法.首先基于Voronoi Field算法的原理构建安全距离约束模型,利用安全距离约束模型对A-star算法进行改进,保证全局路径与障碍物之间存在可控的安全距离.在此基础上,对规划路径提出一种减少转折点及冗余节点的路径平滑优化方法.实验证明改进后的A-star算法规划出的航行路径能够与障碍物保持可控的安全距离,平滑优化后的路径在路径长度、平滑度和节点数上较优化前其优势明显.
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