针对复杂水域场景中，传统路径规划方法忽视初始姿态约束且无法满足欠驱船舶的运动特性问题，提出一种结合A*算法和改进动态窗口法的轨迹规划方法。该方法首先进行全局规划，通过一种创新的局部节点选择策略从A*算法生成的全局路径中提取局部节点，显著提升了远距离规划能力；区别传统动态窗口法中的速度采样空间，改进方法依据欠驱船舶的舵角与螺旋桨转速的操纵约束来构建采样空间，并采用MMG模型对动态窗口法的轨迹预测进行改进，使得规划轨迹更符合欠驱船舶的操纵特性。轨迹规划仿真和循迹仿真试验结果表明，与基准方法相比，提出的改进方法能够更好地反映欠驱船舶的操纵特性，且具有更优的全局性能，规划出的轨迹更加平滑、安全。
In complex waterway scenarios, traditional path planning methods overlook the constraints of the initial posture and cannot meet the motion characteristics of underactuated vessels. To address this, a trajectory planning method combining the A* algorithm and an improved dynamic window approach is proposed. This method first performs global planning and extracts local nodes from the global path generated by the A* algorithm using an innovative local node selection strategy, significantly enhancing long-distance planning capabilities. Unlike the tradition-al dynamic window method, which uses a speed sampling space, the improved method constructs a sampling space based on the maneuvering constraints of the underactuated vessel, such as the rudder angle and propeller speed. Additionally, the MMG model is applied to improve the trajectory prediction in the dynamic window method, making the planned trajectory better aligned with the maneuvering characteristics of underactuated vessels. Simulation results of trajectory planning and path-following tests show that, compared to the baseline method, the proposed improvement better reflects the maneuvering characteristics of underactuated vessels and provides superior global performance, with smoother and safer planned trajectories.
2025,47(21): 58-64 收稿日期：2025-2-19
DOI：10.3404/j.issn.1672-7649.2025.21.011
分类号：U664.82
基金项目：广东省重点领域研发计划项目（2020B1111500001-04）
作者简介：周文哲(1999-),男,硕士研究生,研究方向为船舶路径规划算法
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