优化时间的全球路径规划和避免碰撞的局部路径规划,用于在交通分隔方案实施的沿海水域中的USV
1School of Marine Electrical Engineering, Dalian Maritime University, No.1, Linghai Road, Dalian, 116026, Liaoning, China.
ISA transactions
|July 5, 2025
概括
本研究介绍了一种基于高斯过程的非线性编程 (GPNLP) 方法,用于无人驾驶表面车辆 (USV) 路径规划. 该方法确保时间最佳的全球和避免碰撞的本地路径,同时遵守交通分隔方案和USV动态.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 海洋工程 海洋工程
- 人工智能的人工智能
背景情况:
- 由于多种限制,在带有交通分隔方案 (TSS) 的沿海水域,无人驾驶地表车辆 (USV) 的路线规划是复杂的.
- 现有的方法难以平衡时间优化,避免碰撞和遵守TSS要求.
研究的目的:
- 开发一种创新的层次方法,用于为USVs进行时间最佳的全球路径规划和避免碰撞 (COLAV) 的本地路径规划.
- 有效管理包括USV动态,TSS规则,可航水界限和碰撞风险在内的约束因素.
主要方法:
- 开发了一种基于高斯过程的等级非线性编程 (GPNLP) 方法.
- 用高斯过程回归来建模不规则的静态障碍物,优化可航水利用.
- 整合了TSS合规性评估功能,以惩罚TSS违规行为.
主要成果:
- 拟议的GPNLP方法成功地为USVs规划了最佳时间的全球路径和COLAV本地路径.
- 计划中的路径在模拟中显示符合USV动态和TSS要求.
- 有效地模拟了不规则的障碍物,提高了可航行水的利用率.
结论:
- 层次GPNLP方法为复杂的TSS实施水域的USV路径规划提供了强大的解决方案.
- 这种方法通过确保动态遵守和遵守交通法规来提高安全性和效率.
- 对障碍物建模的高斯过程回归的创新性使用改善了路径规划结果.
相关概念视频
01:18Uniform Depth Channel Flow: Problem Solving
130
To calculate the flow rate for a trapezoidal channel, first, identify the bottom width, side slope, and flow depth of the channel. The cross-sectional area (A) corresponding to the depth of flow (y), channel bottom width (B), and side slope (θ) is determined by:Next, calculate the wetted perimeter, which includes the bottom width and the sloped side lengths in contact with the water. Using the values of the cross-sectional area and the wetted perimeter, determine the hydraulic radius by...
130
01:17Design Example: Alignment of a Road Line Using GIS
109
The alignment of a road line using Geographic Information Systems (GIS) is a critical process in civil engineering, combining advanced technology with practical decision-making. This methodology begins with the collection of geospatial data, including information on land cover, geomorphology, drainage patterns, slope, and contour details. Such data is typically acquired through satellite imagery and GIS tools, offering a comprehensive understanding of the terrain.Once the data is gathered, it...
109
01:09Turbulent Flow: Problem Solving
191
Carbonation is a process used to dissolve carbon dioxide gas in a liquid, commonly used in the production of carbonated beverages. Achieving efficient carbonation requires careful control of temperature, pressure, and flow conditions. By adjusting these parameters, carbonation efficiency can be maximized, producing a higher concentration of CO2 in the liquid.
Temperature is a key factor in CO2 solubility. In this case, the CO2 gas and the liquid are cooled to 20°C. Lower temperatures...
Temperature is a key factor in CO2 solubility. In this case, the CO2 gas and the liquid are cooled to 20°C. Lower temperatures...
191
01:30Types of Global Positioning System Surveys
123
GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
123
01:11Buoyancy and Stability for Submerged and Floating Bodies
2.0K
In fluid mechanics, buoyancy and stability are key concepts for understanding the behavior of submerged and floating bodies. When a stationary body is fully or partially submerged in a fluid, the fluid exerts a force on the body known as the buoyant force. This force acts vertically upward through a point called the center of buoyancy, which is the center of the displaced fluid volume. According to Archimedes' principle, the magnitude of the buoyant force is equal to the weight of the fluid...
2.0K
01:27Uniform Depth Channel Flow
170
Uniform depth channel flow keeps fluid depth consistent along channels such as irrigation canals. In natural channels, such as rivers, approximate uniform flow is often assumed. This condition occurs when the channel’s bottom slope matches the energy slope, balancing potential energy lost from gravity with head loss due to shear stress. This balance prevents depth changes along the channel length, resulting in a steady, uniform flow.Uniform flow in open channels with a constant cross-section...
170