| 无人帆船自主避障算法 |
| |
| 引用本文： | 徐建云,许劲松,侯春晓.无人帆船自主避障算法[J].船舶工程,2018,40(8):61-65. |
| |
| 作者姓名： | 徐建云 许劲松 侯春晓 |
| |
| 作者单位： | 上海交通大学高新船舶与深海开发装备协同创新中心,上海,200240;上海交通大学高新船舶与深海开发装备协同创新中心,上海,200240;上海交通大学高新船舶与深海开发装备协同创新中心,上海,200240 |
| |
| 摘 要： | 针对无人帆船短途航行的避障需求构建了无人帆船自主避障系统，提出了基于A*的帆船避障路径规划算法以及基于LOS的帆船循迹控制算法。案例帆船的仿真测试和航行测试均成功实现多个障碍物场景下的自主避障航行，较为充分地证明了方法的可行性与实时性，对无人帆船应用具有重要意义。
|
| 关 键 词： | 无人帆船 自主避障 A*路径规划 LOS循迹控制 |
| 收稿时间： | 2018/1/5 0:00:00 |
| 修稿时间： | 2018/10/27 0:00:00 |
Study on Autonomous Sailboat Obstacle Avoidance System |
| |
| XU Jian-yun,and HOU Chun-xiao.Study on Autonomous Sailboat Obstacle Avoidance System[J].Ship Engineering,2018,40(8):61-65. |
| |
| Authors: | XU Jian-yun and HOU Chun-xiao |
| |
| Institution: | Shanghai Jiao Tong University,Shanghai Jiao Tong University |
| |
| Abstract: | Establish the autonomous sailboat obstacle avoidance system for short-term autonomous sailing, which include the customized A * route planning algorithm and the LOS path-following control algorithm. The simulation tests and the sailing tests of a model sailboat achieved the successful obstacle avoidance for multiple scenarios, which validates the effectives and real-time performance of the proposed algorithms. It has significant values for the application of autonomous sailboat. |
| |
| Keywords: | autonomous sailboat obstacle avoidance A* route planning LOS path-following control |
| 本文献已被 万方数据 等数据库收录！ |
| 点击此处可从《船舶工程》浏览原始摘要信息 |
| 点击此处可从《船舶工程》下载免费的PDF全文 |
