在复杂多变的海洋环境中，航迹规划模型研究是实现无人艇自主航行的关键技术。针对传统人工势场法进行无人艇局部航路规划时出现的目标不可达和局部最小点问题，提出了2种改进策略：一是通过引入改进的斥力函数机制，以调节障碍物对无人艇的作用力方式，确保在靠近目标时斥力逐渐减弱，从而克服目标不可达问题；二是将模拟退火算法与传统人工势场法相结合，利用其概率突跳特性帮助无人艇逃离局部极小点。实验结果表明，与传统方法相比，基于引进斥力函数以及基于模拟退火人工势场的无人艇局部航路规划算法具有明显的性能优势以及较好的实际应用价值。
In the complex and dynamic marine environment, the study of trajectory planning models is a key technology for achieving autonomous navigation of unmanned surface vehicles (USVs). To address the problems of target unreachability and local minima encountered when applying the traditional artificial potential field (APF) method to USV local path planning, two improvement strategies are proposed. First, an enhanced repulsive force function mechanism is introduced to adjust the influence of obstacles on the USV, ensuring that the repulsive force gradually weakens as the vehicle approaches the target, thereby overcoming the target unreachability issue. Second, the simulated annealing algorithm is integrated with the traditional APF method, utilizing its probabilistic jump characteristics to help the USV escape from local minima. Experimental results demonstrate that, compared with conventional methods, the proposed local path planning algorithms—based on the improved repulsive force function and the simulated annealing artificial potential field—exhibit significant performance advantages and strong practical applicability.
2026,48(8): 135-139 收稿日期：2025-9-12
DOI：10.3404/j.issn.1672-7649.2026.08.021
分类号：U675.79；TP391.9
基金项目：国家自然科学基金资助项目（41775165，U22B2002）；安徽省高校杰出青年科研项目（2023AH020022）
作者简介：王敏(1983-),女,博士,教授,研究方向为信号与信息处理
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