Trajectory planning and automatic obstacle avoidance algorithm for unmanned surface vehicle based on exact penalty function

术语名称	数值及内容
最大加速度amax/(m·s−2)	2
最大角速度γmax/(rad·s−1)	0.1
安全阈值ρ/m	8
圆形禁航区1/m	$\left( {{x_1},{y_1}} \right) = \left( {452,436} \right),{R_1} = 34\;$
圆形禁航区2/m	$\left( {{x_2},{y_2}} \right) = \left( {88,120} \right),{R_2} = 26\;$
圆形禁航区3/m	$ \left({x}_{3},{y}_{3}\right)=\left(358,78\right),{R}_{3}=34\;$
圆形禁航区4/m	$\left( {{x_4},{y_4}} \right) = \left( {497,306} \right),{R_4} = 45$
圆形禁航区5/m	$\left( {{x_5},{y_5}} \right) = \left( {524,155} \right),{R_5} = 53\;$
凸四边形禁航区1/m	$ \begin{array}{l}\left({k}_{1,1},{k}_{1,2},{k}_{1,3},{k}_{1,4}\right)=\left(-0.35,-0.30,0.79,1.90\right)\\ \left({b}_{1,1},{b}_{1,2},{b}_{1,3},{b}_{1,4}\right)=\left(310.37,469.00,71.86,143.13\right)\end{array}$
凸四边形禁航区2/m	$\begin{array}{l}\left({k}_{2,1},{k}_{2,2},{k}_{2,3},{k}_{2,4}\right)=\left(-0.56,-0.15,0.69,1.52\right)\\ \left({b}_{2,1},{b}_{2,2},{b}_{2,3},{b}_{2,4}\right)=\left(162.00,248.88,-83.99,-158.95\right)\end{array}$

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Qingliang LI, Bin LI, Guohao SUN, Xing CUI, Xintao MAO. Trajectory planning and automatic obstacle avoidance algorithm for unmanned surface vehicle based on exact penalty function[J]. Chinese Journal of Ship Research, 2021, 16(1): 89

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Paper Information

Category: Intelligent Navigation

Received: Nov. 30, 2020

Accepted: --

Published Online: Mar. 27, 2025

The Author Email:

DOI:10.19693/j.issn.1673-3185.02209

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology