论文标题
自动层车辆的无碰撞轨迹计划
Collision-free Trajectory Planning for Autonomous Surface Vehicle
论文作者
论文摘要
在本文中，我们提出了一种有效，准确的方法，用于自主表面车辆在考虑其动态限制的情况下产生平滑且无碰撞的轨迹。我们将轨迹计划问题解除为前端可行路径搜索和后端运动动力轨迹优化。首先，我们建模两次裂开的表面血管的类型。然后，我们采用基于抽样的路径搜索，通过障碍物的环境找到渐近的最佳路径，并从中提取几个路点。我们在后端应用数值优化方法来生成轨迹。从田间航行的安全角度来看，我们提出了帆船走廊方法，以确保轨迹远离障碍。此外，考虑到有限的燃料ASV携带，我们设计了一个数值目标函数，可以优化节省燃油的轨迹。最后，我们验证并比较模拟环境中提出的方法，结果符合我们的预期轨迹。
In this paper, we propose an efficient and accurate method for autonomous surface vehicles to generate a smooth and collision-free trajectory considering its dynamics constraints. We decouple the trajectory planning problem as a front-end feasible path searching and a back-end kinodynamic trajectory optimization. Firstly, we model the type of two-thrusts under-actuated surface vessel. Then we adopt a sampling-based path searching to find an asymptotic optimal path through the obstacle-surrounding environment and extract several waypoints from it. We apply a numerical optimization method in the back-end to generate the trajectory. From the perspective of security in the field voyage, we propose the sailing corridor method to guarantee the trajectory away from obstacles. Moreover, considering limited fuel ASV carrying, we design a numerical objective function which can optimize a fuel-saving trajectory. Finally, we validate and compare the proposed method in simulation environments and the results fit our expected trajectory.
