操纵性约束下的无人艇区域覆盖路径规划

Area 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，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 increasing demand for water resources exploration，area 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 parallel line-scanning path planning method. In such a case，the tracking error of USVs is large，which would cause low efficiency of area coverage. In view of this problem，this paper presents a parallel line-scanning path planning based on maneuverability. According to the size relation between the scanning width and the turning diameter and considering the constraint of continuous heading angle，our path planning method emphasizes on the path planning of turning path. Verified by the simulation test，our path planning method could generate a smooth area coverage path planning on any scanning width and USV turning diameter. Compared with the classical parallel line-scanning path planning method，our path planning method has increased the USV’s efficiency in area coverage per voyage and path tracking.