基于预测和粒子群的船舶避碰与路径跟踪控制.pdfVIP

基于预测和粒子群的船舶避碰与路径跟踪控制

摘要：针对欠驱动水面船舶的路径跟踪及静态和动态障碍物避碰问题，提出一种综合模型预测控制和改进粒子

群优化（ModifiedParticleSwarmOptimization，MPSO）算法的控制策略。采用视线制导律（Line-of-Sight，LOS）与积

分视线制导律（IntegralLine-of-Sight，ILOS）相结合的方式解决船舶欠驱动问题并补偿漂角引起的稳态横向偏差；

以减小船舶实际向角与期望向角的偏差及舵角变化率作为非线性优化目标，使用非线性模型预测控制（Non-

linearModelPredictiveControl，NMPC)方法实现航向控制，并将避碰因数作为一种时变非线性惩罚项加人目标函数

中；为求解非线性约束优化问题，采用MPSO算法进行求解以获得控制指令。以ONRT

Tumblehome）船模为研究对象进行静态和动态障碍物避碰情况下的仿真试验，并与线性粒子群优化（LinearParticle

SwarmOptimization，LPSO)算法的结果进行比较，验证所提出方法的有效性。

关键词：欠驱动船舶；避碰；路径跟踪；改进的粒子群优化；非线性模型预测控制

Pathfollowingandcollisionavoidanceofunderactuatedshipsbased

onmodelpredictivecontrolandmodifiedparticleswarmoptimization

Abstract:AcontrolmethodcombiningtheMPC

Optimization)isdevelopedforpathfollowingofunderactuatedsurfacevesselsandavoidanceofstaticordynamicobstacles.

ThecombinationofLOS

problemofunderactuatedsystemandtocompensatethesteadystatecross-trackerrorcausedbydrift.Anonlinear

optimizationproblemisformulatedtominimizethedeviationofactualheadingfromdesiredheadingandtherateofchange

ofrudderangle.NMPC(NonlinearModePredictiveControl)methodisusedtorealizeheadingcontrol,meanwhile,the

collisionavoidancefactorsareembeddedinthepathfollowingcontrolproblemasanonlinearpenaltyterm.TheMPSO

algorithmisusedtosolvethenonlinearoptimizationproblemandgeneratecontrolcommands.Simulationexperimentsunder

theconditionofstaticanddynamicobstaclesarecarriedoutwiththeONRT(OfficeofNavalResearchTumblehome)

model,andtheresultsarecomparedtothosefromLPSO(LinearParticleSwarmOptimization)algorithmtoverifythe

effectivenessoftheproposedmethod.

Keywords:underactuatedship;collisionavoidance;pathfollowing;improvedparticleswarmoptimization;nonlinear

modelpredictivecontrol

收稿日期：2021-12-23

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