江汉大学学报（自然科学版）

针对水面自主无人艇静态路径规划全局最优的问题,以提高全局路径规划算法精度为目标,提出了一种基于改进启发函数的全局路径规划方法。该方法采用栅格法对已知环境地形图进行建模,基于A~*算法设计了一种新型的启发函数,通过改变导航控制器的增益系数来对路径进行优化。考虑到水面障碍物漂移作用对水面自主无人艇路径规划产生的影响,通过设置不同的障碍物形态、大小来模拟水面障碍物漂移作用产生的漂移增量。采用MATLAB仿真平台进行多次实验测试,测试结果证明了改进避障策略算法的可靠性。

Aiming at the global optimization problem of the static path planning of the autonomous unmanned watercraft on the surface,we propose a global path planning method based on an improved heuristic function to enhance the accuracy of the global path planning algorithm. The grid method is used to model the known environmental topographic map.This paper designs a new heuristic function based on the A~*algorithm. It optimizes the path by changing the gain coefficient of the navigation controller. Because the drifting effect of water surface obstacles will affect the path planning of the autonomous unmanned watercraft on the surface,the drift increment caused by the drifting effect of the water surface obstacle is simulated by setting different obstacle shapes and sizes. The MATLAB simulation platform is used for many experimental tests,and the test results prove the actual reliability of the improved obstacle avoidance strategy algorithm.