Research On Path Planning Algorithm For Unmanned Surface Vehicles Cluster

China has always attached importance to the development of the marine field.In recent years,under the background of a strong military in the new era,unmanned surface vehicle as an intelligent marine robot have received a lot of attention and research due to its characteristics of automation,intelligence,systemization,and informationization.At the same time,the military operation of unmanned vehicle formation navigation is also an important development direction for future marine military combat tasks.The purpose of this paper is to study the path planning of unmanned surface vehicle and cluster,and to develop and design a unmanned surface vehicles cluster system to verify the feasibility of the algorithm.This article mainly carried out the following researches:For the problem of unmanned vehicle navigation area map modeling,the grid method is used to complete the description of the map information.After completing the modeling of the map environment by the grid method,the map environment information will be stored in the computer in the form of an array to lay the foundation for the subsequent path planning algorithm.For the path planning problem of unmanned vehicle,an improved and optimized RRT path planning algorithm is adopted.The simulation results show that the improved algorithm can effectively improve the efficiency of the algorithm.The optimized algorithm can make the path planning algorithm more correspond with the actual path and shorten the total length of the planned path.For the path planning problem of the unmanned vehicles,the method of combining the virtual structure method and the artificial potential field method is adopted.The unmanned vehicles are regarded as a virtual rigid body,and then it sails from the starting point to the ending point in the artificial potential field.This paper also improves the artificial potential field method,and solves the common problem of unreachable target point and local optimal solution.Design the software and hardware system of the unmanned vehicles cluster based on the above theoretical research.The software system includes the map display software and cluster monitoring software of the shore station,as well as the cluster control software,the path avoidance planning software and the controller software of the unmanned vehicle;The hardware system includes the shore station part and the cluster part,which mainly includes five modules: communication,positioning,control,power supply and propulsion.Finally,the testing of the surface unmanned vehicles cluster system were completed,which verified the path planning algorithm of the single unmanned vehicle and the cluster,and also verified the stability of the cluster system in this paper.