人工势场法因其原理简单、效果明显被广泛用于无人艇路径规划上，但其存在着局部最优解和目标不可达的问题。针对局部最优解的问题，在简单障碍物情况下，提出障碍物移动法，使无人艇改变当前的受力状态，摆脱局部最优状态，继续朝着目标点进行路径规划；在U型障碍物情况下，通过在加入自膨胀系数的基础之上引入模拟退火算法，使无人艇摆脱在U型障碍物情况下的局部最优状态。针对目标不可达的问题，提出改进引力势场函数的方法增加引力，从而解决问题。最后，通过Matlab仿真结果显示，改进后的算法不仅能够解决这两大问题，而且能够安全抵达目标点，所改进算法被验证有效。
The artificial potential field method is widely used in unmanned boat path planning due to its simple principle and obvious effect. However, the traditional artificial potential field method exhibits issues of local optima and objective inaccessibility. In response to the problem of local optimal solution, this paper proposes the obstacle movement method to break the previous force state of the unmanned boat, break free from the local optimal state, and continue with the path planning towards the target point; In the presence of U-shaped obstacles, by incorporating a self-expanding coefficient and simulating annealing algorithms, the unmanned boat can escape from local optima encountered in challenging conditions. This article proposes to solve the problem of unreachable targets by improving the gravitational potential field function and increasing gravity. Finally, Matlab simulation experiments revealed that the algorithm can help unmanned boats solve the two major problems of local optimal solutions and unreachable targets, safely reaching the target point, and verifying the effectiveness of the improved algorithm.
2025,47(13): 52-57 收稿日期：2024-7-27
DOI：10.3404/j.issn.1672-7649.2025.13.010
分类号：U664.82；TP18
基金项目：国家自然科学基金青年科学基金项目（62203293）；上海市启明星培育（扬帆专项）项目（22YF1416100）
作者简介：任建(1997-),男,硕士,研究方向为无人艇控制及避障
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