无人艇编队避碰路径规划与重规划

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中图分类号：TP202.7 文献标志码：A DOI：10.12305/j.issn.1001-506X.2025.06.24

Abstract： In view of the problem of colision avoidance path planning for unmanned surface vessel（USV） in obstacle maps，a static global path planningcollision avoidance method based on improved ant colony algorithm and alocal path re-planning scheme for unknown obstacles are proposed.The grid method is used to model the obstacle environment.By designing a composite heuristic function，proposing a dynamic pheromone giving mechanism，and introducing a chaotic optimization operator，the problems of traditional antcolony algorithms being prone to faling into local optima and having poor convergence are solved.Furthermore，based on the fish schooling effct，a local path re-planning scheme is proposed to solve the path re-planning problem of USV formations when encountering unknown obstacles.Simulation experiments on a distributed formation system consisting of five USVsare conducted to verify the effectiveness of the proposed method forcollision avoidance in formation.

Keywords：unmanned surface vessel （USV） formation；path planning；path re-planning；improved ant colony algorithm；chaos optimization

0 引言

纵观科技发展对战争局势的影响以及各国对未来战争的布局，未来战争将逐步向以智能化为主要形态的方向发展。（剩余19215字）