Path Planning For Unmanned Surface Vehicle Based On Channel

As countries around the world have constantly turned their national defense and diplomatic priorities to the oceans,exploring the oceans and developing marine resources has become the focus of attention of various countries.With the advantages of unmanned and intelligent,USV have become an important carrier of maritime activities.Path planning is one of the core technologies of USV control technology.which indicates the intelligence level of USV,but currently lacks algorithm research on USV path planning combined with actual channel rules.However,the current research of USV path planning algorithms lacks the combination of actual channel rules.Based on this,a new global path planning algorithm for USV that follows the channel rules is proposed,and a local path planning algorithm is optimized.The research work is mainly carried out from the following aspects:(1)Build a channel model based on electronic charts.Firstly,the existing modeling methods are analyzed,and the grid method is selected to model the electronic chart environment,which avoids the problem that the obstacle boundary changes too much.Secondly,the seed filling algorithm is used to optimize the model,which solves the problem of insufficient obstacle filling in the environment model;finally,the optimized model is divided into two channels according to the channel rules,And the environment model of simulation experiment is obtained.(2)The optimal global path planning algorithm is obtained through simulation experiments.Visual Studio 2013 was used to simulate the A* algorithm,breadth-first search algorithm,and JPS algorithm.The results show that the operating efficiency of the JPS algorithm is 20 ～ 100 times that of the A* algorithm and breadth-first search algorithm,and the number of turning points is less.The optimal global path planning algorithm is JPS algorithm.(3)Modify the global path planning algorithm to adapt to the channel rules,and improve the local path planning algorithm to obtain better obstacle avoidance.The JPS algorithm is improved based on the channel rules.First,the channel is judged,and the appropriate navigation strategy is selected for path planning,so that the JPS algorithm can perform path planning under the channel rules.Aiming at the local minimum and oscillation problems of artificial potential field method,a method of order reduction processing was proposed to improve the obstacle avoidance effect.(4)Set up a software platform for experimental verification.The software experiments of the modified JPS algorithm are carried out under various feasible conditions of the channel,and the results show that the modified JPS algorithm can obtain a safe route under the channel rules,which verifies the effectiveness and safety of the modified JPS algorithm.The simulation experiment of the improved artificial potential field method on the track planned by the JPS algorithm shows that the improved artificial potential field method can not only smoothly and dynamically avoid obstacles,but also cooperate well with the JPS algorithm.