Aiming at an obstacle avoidance problem with dynamic constraints for Unmanned Surface Vehicle (USV), a method based on Circle Grid Trajectory Cell (CGTC) is proposed. Firstly, the ship model and standardization rules are constructed to develop and constrain the trajectory, respectively. Secondly, by analyzing the properties of the circle grid, the circle grid tree is produced to guide the motion of the USV. Then, the kinematics and dynamics of the USV are considered through the on-line trajectory generator by designing a relational function that links the rudder angle, heading angle, and the central angle of the circle grid. Finally, obstacle avoidance is achieved by leveraging the on-line trajectory generator to choose a safe, smooth, and efficient path for the USV. The experimental results indicate that the proposed method can avoid both static and dynamic obstacles, have better performance in terms of distance cost and steering cost comparing with the related methods, and our method only takes 50% steering cost of the grid-based method; the collision avoidance path not only conforms to the USV dynamic characteristic but also provides a reference of steering command.
翻译:针对无人驾驶的地面飞行器(USV)动态限制的避免障碍问题,提议了一种基于圆网轨迹细胞(CGTC)的方法。首先,建造船舶模型和标准化规则是为了分别开发和限制轨迹。其次,通过分析圆网格的特性,生产圆网格树来指导USV的运动。然后,通过在线轨迹生成器,考虑USV的动力学和动态学,设计一个连接方向、方向角和圆网中央角的关联函数。最后,通过利用在线轨迹生成器为USV选择安全、顺畅和高效的路径,可以避免障碍。 实验结果表明,拟议的方法可以避免静态和动态障碍,在距离成本和方向成本方面与相关方法相比具有更好的性能,而我们的方法仅需要50%的电网基方法指导成本;避免碰撞路径不仅符合USV动态特征,而且还提供了方向指令的参考。