水面无人艇模糊近域图避障方法研究

针对复杂海洋环境下水面无人艇(USV)的危险规避问题，介绍一种基于局部环境信息感知的避障算法——近域图(ND)法。结合 USV高速的特性及ND法在速度控制上的跳跃性，采用模糊理论平滑速度输出，对ND法进行改进。在速度控制中加入与周围障碍物距离相关的动态系数，从而减小USV自身惯性带来的危险规避动作误差，提高了其安全性。VxWorks系统下的仿真结果表明，改进的模糊ND法能够使USV在复杂的环境下准确、快速地躲避障碍物并到达目标点。

Research on Fuzzy ND Obstacle Avoidance Method of Unmanned Surface Vessel

Aiming at the obstacle avoidance problems of the Unmanned Surface Vessel（USV） in complex marine environment, an algorithm of obstacle avoidance based on the perception of local environment----Nearness Diagram（ND） method is introduced. Combining with the characteristics of USV＇s high-speed and the jumping on speed control of ND method, this paper proposes fuzzy theory to smooth the output of speed to improve the ND method. The improved method reduces errors of dangerous avoid action caused by inertia of the USV, and improves its security. Simulation results on VxWorks system show that the improved fuzzy ND method enabies USV to reach the target point and avoid obstacles more accurately and quickly in complex environment.