操纵性约束下的无人艇区域覆盖路径规划

Coverage path planning of unmanned surface vehicle under maneuverability constraints

摘要:

随着日益增长的水域开发需求,区域覆盖是无人艇面向应用的重要能力。然而,经典的平行线扫描路径规划在转弯处期望艏向角不连续,无人艇路径跟踪误差大,单位航程区域覆盖率低。为此,本文基于无人艇操纵性约束,提出平行线扫描路径规划方法。该方法根据扫海宽度与无人艇定常回转直径大小关系,结合无人艇艏向角连续约束,着重对回转段进行路径规划。经仿真验证,该方法可实现对任意扫海宽度与无人艇回转直径进行区域覆盖路径规划。相比经典平行线扫描路径规划,该方法提高了无人艇单位航程区域覆盖率,提升了无人艇路径跟踪效果。

Abstract:

With the development of water resources exploration, coverage is an important capability for unmanned surface vehicles (USVs) to enable mission-oriented applications. However, the desired heading angle at the turning path is generally discontinuous for the classical line-sweep path planning method. In such a case, the tracking error of USVs would be large, which causes a low coverage efficiency. In this paper, in view of the region coverage problem, a coverage line-sweep path planning of USV based on maneuverability is designed. The method divides the path planning into three situations according to the difference between the sweep width and the turning circle diameter. Taking the constraint of continuous heading angle into account, our path planning method makes an optimized turning path. Verified by the simulation test, our path planning method could generate a smooth coverage path based on sweep width and turning circle diameter. Compared with the classical line-sweep path planning method, our path planning method increased the coverage efficiency.