上海交通大学学报

上海交通大学学报 ›› 2019, Vol. 53 ›› Issue (12): 1411-1419.doi: 10.16183/j.cnki.jsjtu.2019.12.003

• 学报（中文） • 上一篇    下一篇

船舶自主避碰的慎思型轨迹规划

杨荣武1,许劲松1,王鑫2   

  1. 1. 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； 2. Marine Technology Department, Newcastle University, Newcastle upon Tyne, NE1 7RU, UK
  • 发布日期:2020-01-06
  • 通讯作者: 许劲松,男,副教授,电话(Tel.):13817722031; E-mail:jinsong@sjtu.edu.cn.
  • 作者简介:上海交通大学海洋工程国家重点实验室自主研究课题(GKZD010061)
  • 基金资助:
    上海交通大学海洋工程国家重点实验室自主研究课题(GKZD010061)

Deliberative Trajectory Planning for Shipborne Autonomous Collision Avoidance System

YANG Rongwu 1,XU Jinsong 1,WANG Xin 2   

  1. 1. Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai Jiao Tong University, Shanghai 200240, China; 2. Marine Technology Department, Newcastle University, Newcastle upon Tyne, NE1 7RU, UK
  • Published:2020-01-06

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摘要： 基于快速扩展随机树(RRT)算法，提出一种适用于船舶自主避碰的慎思型轨迹规划(DTP)算法，能够耦合处理静态障碍物约束、船舶操纵性约束、轨迹最优性等限制条件，在两个长程路径点之间完成全局轨迹规划，以保证规划轨迹的可行性、完备性和最优性.通过一条案例三体船的自主避碰仿真及航行试验，从多方面验证了所提DTP算法的有效性、优越性和稳定性，对研究船舶自主避碰系统及其应用前景具有重要的意义.

关键词: 船舶自主避碰系统； 慎思型轨迹规划； 操纵性约束； 轨迹最优性

Abstract: Based on rapidly-exploring random tree (RRT) algorithm, a deliberative trajectory planner DTP was developed to search for global trajectory between the adjacent waypoints of the long voyage. The static obstacle constraints, ship maneuvering constraints, and trajectory optimality requirements are satisfied simultaneously to ensure the feasibility, completeness and optimality in planning. Through simulations and on-water tests of a trimaran model, the proposed DTP method was demonstrated to be effective, superior and stable for the autonomous collision avoidance. The present work provides an important basis for subsequent research and future application.

Key words: shipborne autonomous collision avoidance system; deliberative trajectory planner; maneuvering constraint; trajectory optimality

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