Study On Path Planning Algorithm Of Unmanned Surface Vehicle Formation

Unmanned surface vehicle(USV)is an intelligent vehicle,which can perform various sea tasks after assembling with corresponding equipment.When the task is complex and the performance has high requirements for the task time and safety,the USV usually needs to form a formation to work together.Path planning technology is the primary premise for unmanned craft to independently complete various kinds of sea tasks.However,it is difficult to balance the USV formation path planning algorithm in terms of safety and navigation efficiency.Therefore,this thesis solves the problem of USV formation path optimality one by one based on the idea of global,local and comprehensive path planning respectively,and its research contents mainly include:Firstly,for the global path optimality problem of the USV formation in complex sea area,solve the problem of fitness function and introduce the steering angle and path point distance to avoid the large path angle,combine the IBAS algorithm with the genetic algorithm and design the GBS algorithm to solve the global path planning problem in complex task sea area,that enables the USV formation to still obtain the optimal global path such as safety,path distance and smoothness in complex sea conditions such as narrow waterways.Secondly,in order to improve the local path planning,the field function based on unknown dynamic coefficient and transverse force to solve the local optimal problem so as to improve the safety.Aiming at the obstacle avoidance problem of USV formation and dynamic obstacles,a hierarchical obstacle avoidance strategy is proposed The combination obstacle avoidance strategy is used to ensure the high safety of USV formation when encountering dynamic obstacles in various scenarios.Finally,this thesis studies the planning of integrated path in different marine environments.By designing the path point optimization judgment mechanism,the integrated path based on the GBS algorithm and the local path under the artificial potential field method is still optimal.In order to solve the problem of formation recovery in complex sea areas,we propose the formation point allocation mechanism with improved market auction method and design the formation mode for different complex waters,improve the adaptability to different sea conditions through mode switching.This thesis discusses the global path planning,local path planning and comprehensive path planning,and shows the best performance on the safety,smoothness and path distance,and the local planning can be safe and effectively through various complex waters and formation stability.The proposed algorithm provides a complete integrated path planning scheme for USV formation,and it is more suitable for USV formation Practical application of engineering.