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          華中科技大學學報(自然科學版) 2020, Vol. 48 Issue (12): 72-77 DOI10.13245/j.hust.201213

          欄目:船舶工程
          帶拖曳線列陣水面無人艇的避障方法研究
          陳岱岱 a , b , 李玩幽 a , 包雄關 c , 朱克強 c
          a. 哈爾濱工程大學動力與能源工程學院,黑龍江 哈爾濱 150001
          b. 中電科(寧波)海洋電子研究院有限公司,浙江 寧波 315040
          c. 寧波大學海運學院,浙江 寧波 315211
          摘要 針對帶有拖曳線列陣的水面無人艇避障問題,提出了基于速度障礙法的無人艇避障方法.對帶拖曳線列陣無人艇進行建模,分析了帶有拖曳線列陣的水面無人艇避障問題,通過設計改進人工勢場法和速度障礙法,實現帶有拖線陣的水面無人艇整體有效避障.仿真結果表明:速度障礙法能降低無人艇避障時拖線陣的有效張力峰值,保持良好的陣形形態,更好地保障陣列的時空安全.
          關鍵詞 水面無人艇 ;拖曳線列陣 ;避障 ;人工勢場法 ;速度障礙法
          Velocity obstacle collision avoidance approach for USV with towed array
          CHEN Daidai a , b , LI Wanyou a , BAO Xiongguan c , ZHU Keqiang c
          a. College of Power and Energy Engineering,Harbin Engineering University,Harbin 150001,China
          b. CETC Maritime Electronics Research Institute Co. Ltd.,Ningbo 315040,Zhejiang China
          c. College of Maritime and Transportation,Ningbo University,Ningbo 315211,Zhejiang China
          Abstract For the collision avoidance of unmanned surface vessel (USV) with towed array,an obstacle avoidance method for unmanned boats was presented based on velocity obstacle method.Firstly,the joint model of USV with towed array was established,and the collision avoidance problems for USV with towed array were analyzed.The modified artificial potential field and velocity obstacle methods were designed,to make the joint vessel and array avoid collision.Simulations show that velocity obstacle approach can reduce the effective tensions of array,keep excellent array shapes,implements better array safety in both space and time domains.
          Keywords unmanned surface vessel ; towed array ; collision avoidance ; artificial potential field ; velocity obstacle method
          基金資助浙江省科技廳2020年度省重點研發計劃資助項目(2020C03101)

          中圖分類號U674.7;TP18
          文獻標志碼A
          文章編號1671-4512(2020)12-0072-06
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          文獻來源
          陳岱岱, 李玩幽, 包雄關, 朱克強. 帶拖曳線列陣水面無人艇的避障方法研究[J]. 華中科技大學學報(自然科學版), 2020, 48(12): 72-77
          DOI:10.13245/j.hust.201213
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