無(wú)人艇編隊(duì)避碰路徑規(guī)劃與重規(guī)劃

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中圖分類(lèi)號(hào)：TP202.7 文獻(xiàn)標(biāo)志碼：A DOI：10.12305/j.issn.1001-506X.2025.06.24

Abstract： In view of the problem of colision avoidance path planning for unmanned surface vessel（USV） in obstacle maps，a static global path planningcollision avoidance method based on improved ant colony algorithm and alocal path re-planning scheme for unknown obstacles are proposed.The grid method is used to model the obstacle environment.By designing a composite heuristic function，proposing a dynamic pheromone giving mechanism，and introducing a chaotic optimization operator，the problems of traditional antcolony algorithms being prone to faling into local optima and having poor convergence are solved.Furthermore，based on the fish schooling effct，a local path re-planning scheme is proposed to solve the path re-planning problem of USV formations when encountering unknown obstacles.Simulation experiments on a distributed formation system consisting of five USVsare conducted to verify the effectiveness of the proposed method forcollision avoidance in formation.

Keywords：unmanned surface vessel （USV） formation；path planning；path re-planning；improved ant colony algorithm；chaos optimization

0 引言

縱觀科技發(fā)展對(duì)戰(zhàn)爭(zhēng)局勢(shì)的影響以及各國(guó)對(duì)未來(lái)戰(zhàn)爭(zhēng)的布局，未來(lái)戰(zhàn)爭(zhēng)將逐步向以智能化為主要形態(tài)的方向發(fā)展。（剩余19215字）