| 无人帆船短途路径规划研究 |
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| 引用本文： | 康梦萁,许劲松,徐建云,杜明树.无人帆船短途路径规划研究[J].船舶工程,2016,38(9):1-5. |
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| 作者姓名： | 康梦萁 许劲松 徐建云 杜明树 |
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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;上海交通大学海洋工程国家重点实验室,上海,200030 |
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| 基金项目： | 海洋工程国家重点实验室自由研究课题（GKZD010059） |
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| 摘 要： | 针对无人帆船短途路径规划问题提出速度最优法,并与传统的A*算法进行对比研究。两种方法的模拟计算结果对比,证明了速度最优法在短途路径规划的合理性,在逆风工况和风场变化频繁条件下明显优于传统A*算法。进一步的帆船模型湖上试验结果验证了速度最优法的实时性,与自动循迹控制程序具有良好的匹配性,可以满足无人帆船的短途航行要求。
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| 关 键 词： | 无人帆船 短途路径规划 A*算法 速度最优法 |
| 收稿时间： | 2016/3/15 0:00:00 |
| 修稿时间： | 2016/9/27 0:00:00 |
Autonomous Sailboat Local Route Planning |
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| KANG Meng-qi,XU Jian-yun and DU Ming-shu.Autonomous Sailboat Local Route Planning[J].Ship Engineering,2016,38(9):1-5. |
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| Authors: | KANG Meng-qi XU Jian-yun and DU Ming-shu |
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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,State Key laboratory of Ocean Engineering,Shanghai Jiao Tong University |
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| Abstract: | A new local route planning method for autonomous sailboat named as optimum speed method was proposed in the paper. By comparing the simulation results with those of traditional A* algorithm, the rationality and advantage of optimum speed method has been proved. The optimum speed method is superior to traditional A* algorithm when the boat sails against the wind or the the wind field changes frequently. The model tests of a 1.5m sailboat demonstrated that optimum speed method is good in real-time application and works well with track following control model. |
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| Keywords: | autonomous sailboat local route planning A* algorithm optimum speed method |
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