Chinese Journal of Ship Research, Volume. 16, Issue 1, 65(2021)
Intelligent evolution method for obstacle-avoidance algorithm of unmanned surface vehicles in real sea trial based on machine learning
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Table 1. The hierarchical division and corresponding features of tecnical node for USV autonomous system
View tableView in ArticleTable 1. The hierarchical division and corresponding features of tecnical node for USV autonomous system
层次 示例 描述形式 测评方法 系统属性 环境影响 指标层 推进功率 物理量 客观计算 硬件层，单硬件作用 不受环境影响 行为层 战术半径 物理量 客观计算 硬件层，多硬件作用 受环境影响较小 功能层 图像识别功能 物理量与评分 客观计算与主观描述 子系统层，多算法作用 受环境影响较大 任务层 巡逻任务 评分 主观描述与客观参考 总体系统层 受环境影响显著
Table 2. The location of virtual obstacles and corresponding avoiding radius
View tableView in ArticleTable 2. The location of virtual obstacles and corresponding avoiding radius
障碍物圆心/m 避碰半径/m 障碍物圆心/m 避碰半径/m (−180,180) 80 (−370,400) 50 (−310,250) 35 (−200,475) 95 (−150,330) 30 (−450,220) 95
Table 3. The results of path in real sea trial
View tableView in ArticleTable 3. The results of path in real sea trial
步长D/m 目标偏向概率P 路径长度/m 路径转角/(°) 目标函数值 150 0.1 739.274 3.687 79.001 150 0.2 703.877 3.723 77.329 150 0.3 748.569 3.656 79.226 160 0.1 753.047 5.035 93.177 160 0.25 654.352 3.719 74.450 170 0.05 648.220 3.406 70.990 170 0.15 636.477 3.118 67.457 170 0.25 643.532 3.430 70.960 180 0.25 872.046 3.976 89.484
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Jiankun LOU, Hongdong WANG, Jianyao WANG, Hong YI. Intelligent evolution method for obstacle-avoidance algorithm of unmanned surface vehicles in real sea trial based on machine learning[J]. Chinese Journal of Ship Research, 2021, 16(1): 65
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Received: Sep. 17, 2020
Accepted: --
Published Online: Mar. 27, 2025
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