基于改进双向RRT 的无人船路径规划

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开放科学（资源服务）标志码（OSID）

Path planning forunmanned surface vehicles based

on an improved bidirectional RRT algorithm

WANG Xingmin'，LIU Ruixue'，LI Qian'， ZHANG Weizhong1*，DONG Wei²（1.InstituteofAutomation，QiluUniversityofTechnology（ShandongAcademyofSciences），Jinan250l4，China;2.IstituteofOceanographic Instrumentation，Qilu Universityof Technology（Shandong AcademyofSciences），Qingdao 266061，China）

Abstract ： Oceans are not only super-ecosystems but also strategic resource reservoirs，and thus，ocean monitoring is crucial.Unmannedsurface vehicles（USVs）arenewtypes of multfunctional unmanned platforms foroceanmonitoring，and pathplaning plays acrucial roleasacore technologyin theiroperation.Withthecontinuous increase in maritime traffic densityandupgrading of navigation safety standards，traditional path planning methods are facing growing chalenges in adapting to complexenvironments.In this study，a multidimensional improvement strategyisproposed toaddress the limitationsofthebidirectionalrapidly-exploringrandomtreestar（Bi-RRT*）algoritminUSVpathplanning.First，anadaptive step-sizeadjustment mechanism，basedonenvironmentalfeatureperception，isestablished；second，akeynodeselection strategy isdesigned;andfinalyBeziercurvesareusedtosmooththegeneratedpath，producingasmoothertrajectorythat beter meets the kinematicrequirementsof USVs.Simulation results showthattheimproved bidirectional RRT*algorithm  outperformsits traditional counterpart in termsof node-generation effciency，overallperformance，andpath smoothness. Key words ∵ unmanned surface vehicles;ocean monitoring;path planning；bidirectional RRT*;adaptive step-size;Bezier Curve;key node selection

随着无人平台的推广以及相关定位、导航与控制技术的快速发展，越来越多的无人海洋自动平台应用于海洋监测领域，如无人机、无人水下自主航行器等[1]。（剩余6383字）