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Alternative TitleSurvey of online path planning of unmanned surface vehicle for real-time collision avoidance
冷静; 刘健; 徐红丽
Source Publication智能系统学报
Indexed ByCSCD
Contribution Rank1
Funding Organization中国科学院重点部署项目子课题(KGFZD-125-014)
Keyword无人水面机器人 在线路径规划 速度避障法 国际海上避碰规则公约 混合整数线性规划 动态环境
Other AbstractAiming at the problem of complies with the Convention on the International Regulations for Preventing Collisions at Sea and online real-time path planning of unmanned surface vehicle in dynamic environment. A new method of online path planning is proposed for Unmanned Surface Vehicle in a dynamic environment. This method have merged International Regulations for Preventing Collisions at Sea (COLREGs) with Velocity Obstacle (VO), make relative speed of velocity obstacle avoidance method lineation, and make VO as a set of velocities constraints combined with mixed-integer linear programming. At mealtime, combined USV body dynamics constraints and environmental constraints, and make multi objective function as the optimization function and choose distance, speed and abeyance COLREGs as target functions. At last, analysis the path planning about two kinds of encounter situations and the simulation results show the effectiveness of this planning algorithm.
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Document Type期刊论文
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GB/T 7714
冷静,刘健,徐红丽. 实时避碰的无人水面机器人在线路径规划方法[J]. 智能系统学报,2015,10(3):343-348.
APA 冷静,刘健,&徐红丽.(2015).实时避碰的无人水面机器人在线路径规划方法.智能系统学报,10(3),343-348.
MLA 冷静,et al."实时避碰的无人水面机器人在线路径规划方法".智能系统学报 10.3(2015):343-348.
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