上海交通大学学报

上海交通大学学报（自然版） ›› 2012, Vol. 46 ›› Issue (09): 1371-1375.

• 自动化技术、计算机技术 • 上一篇    下一篇

基于航海雷达的水面无人艇局部路径规划  

庄佳园，苏玉民，廖煜雷，孙寒冰   

  1. （哈尔滨工程大学 水下智能机器人技术国防科技重点实验室， 哈尔滨 150001）
  • 收稿日期:2011-11-04 出版日期:2012-09-28 发布日期:2012-09-28
  • 基金资助:

    国家自然科学基金资助项目（50909025/E091002），哈尔滨工程大学中央高校基金资助项目（GK2010260119）

Unmanned Surface Vehicle Local Path Planning Based on Marine Radar

 ZHUANG  Jia-Yuan, SU  Yu-Min, LIAO  Yu-Lei, SUN  Han-Bing   

  1. (National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China)
  • Received:2011-11-04 Online:2012-09-28 Published:2012-09-28

摘要： 要： 
设计了一种基于航海雷达图像处理的规划方法，以处理水面无人艇的局部路径规划问题.利用边缘保持的去噪平滑算法和自适应阈值法对航海雷达的原始图像进行处理并建立了环境模型，采用距离寻优的Dijkstra算法搜索最佳路径，将所提出的算法经海上和湖上实验加以验证.结果表明，所得规划结果良好，搜索的路径距离较短、搜索速度较快并满足实验要求. 关键词： 
水面无人艇； 航海雷达； 图像处理； Dijkstra算法； 局部路径规划 中图分类号：  TP 391
文献标志码：  A    

Abstract:  To solve the local path planning problem of unmanned surface vehicle (USV), this paper designed a path planning method based on marine radar image processing. An image’s edge preserving smoothing algorithm and an adaptive threshold election algorithm were used for marine radar image processing, then a mathematic model for the environment was founded, and the path was searched by a search of shortcut Dijkstra algorithm. Good results were received from experimental data in the sea and lake，with an optimal path identified in a short time that could satisfy the experimental need．

Key words: unmanned surface vehicle (USV), marine radar, image processing, Dijkstra algorithm, local path planning