| 内河无人船局部路径规划和循迹控制 |
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| 引用本文： | 侯春晓,许劲松,杨荣武.内河无人船局部路径规划和循迹控制[J].船舶工程,2017,39(6):41-45. |
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| 作者姓名： | 侯春晓 许劲松 杨荣武 |
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| 作者单位： | 上海交通大学海洋工程国家重点实验室,上海,200030;上海交通大学海洋工程国家重点实验室,上海,200030;上海交通大学海洋工程国家重点实验室,上海,200030 |
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| 摘 要： | 提出了内河无人船在水流中的局部路径规划算法,并在直线Line of Sight算法基础上设计了一般曲线路径的LOS循迹控制算法。将此算法结合完成了内河无人船的航行试验,实现了在落潮、涨潮等不同水流条件下的无人自主航行,验证了所提算法的有效性和实用性,对内河无人船的应用研究具有借鉴意义。
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| 关 键 词： | 内河无人船 局部路径规划 LOS循迹控制 航行试验 |
| 收稿时间： | 2017/1/17 0:00:00 |
| 修稿时间： | 2017/6/28 0:00:00 |
Study on Local Path Planning and Path Following Control for Inland Water USV |
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| HOU Chun-xiao,and YANG Rong-wu.Study on Local Path Planning and Path Following Control for Inland Water USV[J].Ship Engineering,2017,39(6):41-45. |
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| Authors: | HOU Chun-xiao and YANG Rong-wu |
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| Institution: | State Key laboratory of Ocean Engineering,Shanghai Jiao Tong University,State Key laboratory of Ocean Engineering,Shanghai Jiao Tong University,State Key laboratory of Ocean Engineering,Shanghai Jiao Tong University |
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| Abstract: | A method of local path planning for inland water ships in current is proposed. The conventional Line of Sight algorithm is expanded to the general curve path following control. The combination of the above methods brought a successful model testing of inland water USV (unmanned surface vehicles). The ship model could fulfill the autonomous navigation along the planned path in various currents. The result demonstrates the effectiveness of the proposed method, which is valuable for inland water USV. |
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| Keywords: | Unmanned Surface Vehicle Local path planning Line of Sight path following Navigation testing |
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