人工势场法因其平滑的路径被广泛应用于解决水面无人艇路径规划问题，但人工势场法与无人艇的结合会出现转向角过大、航迹不可控、局部最小值问题。本文研究一种基于视线法的人工势力场法，利用视线法确定出各期望航迹点的位置，通过目标点引力与障碍物斥力实现避障；修正新定义的引力点函数和障碍物斥力函数，使其更加适用于期望航迹点的避障。仿真结果表明，改进后的算法在多障碍物与大型障碍物环境中的航迹偏差分别降低了85.61%、13.2%，艏向角变化分别降低了59.52%、17.3%，且能够引导无人艇摆脱局部最小值环境。优化后的人工势场法有着更强的路径保持能力，更小的避障角度需求，对无人艇的操控性能要求也更低，大大提高了无人艇的行驶安全性， 具有一定的实际应用价值。
The artificial potential field method is widely used to solve the path planning problem of unmanned surface vehicle (USV) because of its smooth path. However, the combination of artificial potential field method and USV will cause problems such as excessive steering angle, uncontrollable track and local minimum. In this paper, an artificial force field method based on line of sight method is studied. The position of each desired track point is determined by line of sight method, and obstacle avoidance is realized by the attraction of target point and the repulsion of obstacles. The newly defined attraction point function and obstacle repulsion function are modified to make them more suitable for the obstacle avoidance of the desired track point. The simulation results show that the track deviation of the improved algorithm is reduced by 85.61% and 13.2%, and the change of the heading angle is reduced by 59.52% and 17.3% respectively in the environment of multiple obstacles and large obstacles, and the improved algorithm can guide the USV to get rid of the local minimum environment. The optimized artificial potential field method has stronger path maintaining ability, smaller obstacle avoidance angle demand, and lower control performance requirements for USV, which greatly improves the driving safety of USV and has certain practical application value.
2025,47(5): 126-131 收稿日期：2024-3-30
DOI：10.3404/j.issn.1672-7649.2025.05.019
分类号：U675.73
基金项目：江苏省研究生实践创新计划（SJCX23_2140）
作者简介：顾潮宏（1999 – ），男，硕士研究生，研究方向为船舶综合控制技术
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