基于改進(jìn)雙向RRT 的無人船路徑規(guī)劃

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開放科學(xué)（資源服務(wù)）標(biāo)志碼（OSID）

Path planning forunmanned surface vehicles based

on an improved bidirectional RRT algorithm

WANG Xingmin'，LIU Ruixue'，LI Qian'， ZHANG Weizhong1*，DONG Wei2（1.InstituteofAutomation，QiluUniversityofTechnology（ShandongAcademyofSciences），Jinan250l4，China;2.IstituteofOceanographic Instrumentation，Qilu Universityof Technology（Shandong AcademyofSciences），Qingdao 266061，China）

Abstract ： Oceans are not only super-ecosystems but also strategic resource reservoirs，and thus，ocean monitoring is crucial.Unmannedsurface vehicles（USVs）arenewtypes of multfunctional unmanned platforms foroceanmonitoring，and pathplaning plays acrucial roleasacore technologyin theiroperation.Withthecontinuous increase in maritime traffic densityandupgrading of navigation safety standards，traditional path planning methods are facing growing chalenges in adapting to complexenvironments.In this study，a multidimensional improvement strategyisproposed toaddress the limitationsofthebidirectionalrapidly-exploringrandomtreestar（Bi-RRT*）algoritminUSVpathplanning.First，anadaptive step-sizeadjustment mechanism，basedonenvironmentalfeatureperception，isestablished；second，akeynodeselection strategy isdesigned;andfinalyBeziercurvesareusedtosmooththegeneratedpath，producingasmoothertrajectorythat beter meets the kinematicrequirementsof USVs.Simulation results showthattheimproved bidirectional RRT*algorithm  outperformsits traditional counterpart in termsof node-generation effciency，overallperformance，andpath smoothness. Key words ∵ unmanned surface vehicles;ocean monitoring;path planning；bidirectional RRT*;adaptive step-size;Bezier Curve;key node selection

隨著無人平臺(tái)的推廣以及相關(guān)定位、導(dǎo)航與控制技術(shù)的快速發(fā)展，越來越多的無人海洋自動(dòng)平臺(tái)應(yīng)用于海洋監(jiān)測(cè)領(lǐng)域，如無人機(jī)、無人水下自主航行器等[1]。（剩余6383字）