Research On Unmanned Surface Vehicle Path Planning Technology Based On Improved Fast Marching Method And Artificial Potential Field Method

Unmanned surface craft is an important component of the intelligent development of Marine tools now.It can be used in a variety of fields in the Marine environment and occupies a pivotal position in the Marine military,civil and scientific research fields.As the the cornerstone of the whole intelligent navigation of unmanned surface craft,path planning has always been a research hotspot.Basing on the constraints of unmanned surface craft,this article improve the fast travel method path planning for global path planning according to its application environment and conditions.The collision risk of the unmanned surface craft is analyzed for the dynamic obstacle ship under local conditions and the fuzzy logic controller is designed basing on the collision risk.The specific research content is as follows.The kinematics and dynamics models of the unmanned vehicle were established.At the same time,according to the research needs,introduce the calculation of the wind load coefficient designed by Blendermann.Combining with the corresponding parameters of the unmanned surface craft "Qihang" developed in the laboratory,design the motion with disturbance.The maximum range of motion is simulated under the set environmental conditions,which provides support for subsequent global path planning based on feasible area restrictions.The traditional FMM path planning method and superimposing a potential field method have not analyzing the motion with the specific constraints of unmanned surface craft and constraints in the case of added disturbance.In this article the potential field generated by the obstacle is modified and partitioned according to the parameters of the unmanned surface craft.The generated obstacle potential field is re-adjusted to the overall potential field used for path planning through FMM so that it can change the influence range and degree of the obstacle according to the situation of the unmanned surface craft.The feasible area of the corresponding path iteration is designed according to the simulation situation.And then control the unmanned surface craft by a fuzzy PID controller to track the generated path.According to the analysis of the possible situations of the unmanned surface craft when facing obstacles,divide the collision risk situation basing on the encounter parameter information for the possible collision situations.With APF combining collision risk situation calculated by fuzzy logic and the improvement of collision avoidance decision based on collision avoidance convention realize the path planning of the unmanned surface craft for the local dynamic obstacle ship.