无人驾驶观光船在潮白河向阳闸库区段的应用研究
北京市潮白河管理处, 环境管理科, 北京 101300
| 摘 要： | 针对潮白河向阳闸库区段无人驾驶观光船商业化运行面临的路径规划生硬、乘员安全保障缺失及岸基配套非标准化等瓶颈，本文提出一套集“全局-局部协同路径规划、乘员安全导向型船体结构、岸基标准化基础设施”于一体的应用框架。研究采用改进A*算法与融合速度障碍法的动态窗口法，实现平滑航行与动态避障；创新设计低重心滑移自复正内舱与网格化独立舱室，提升无船员配置下的抗倾覆能力与单点故障隔离水平；依托现行工程经验构建浮筒船坞复合锚固、专用供电防护及5G智能监控体系，形成可快速部署的岸船协同管控模式。实船测试表明，该方案显著降低急弯频次与横摇幅值，运维成本下降30%以上，具备向北方内陆生态水系推广的工程价值与示范意义。 |
| 关 键 词： | 无人驾驶观光船; 路径规划; DWA-VO融合算法; 滑移自复正内舱; 岸基标准化设施; 潮白河 |
| DOI： | 10.57237/j.cse.2026.03.001 |
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收稿日期: 2026-06-27
接受日期: 2026-07-21
在线出版日期: 2026-08-05
Application Research of Unmanned Sightseeing Vessels in the Xiangyang Sluice Reservoir Section of Chaobai River
Section of Environmental Management, Beijing Municipal Chaobai River Management Office, Beijing 101300, China
| Abstract: | To address the bottlenecks hindering the commercial operation of unmanned sightseeing vessels in the Xiangyang Sluice reservoir section of Chaobai River—specifically rigid path planning, insufficient passenger safety assurance, and non-standardized shore-based infrastructure—this paper proposes an integrated application framework combining "global-local collaborative path planning, passenger-safety-oriented hull structure design, and standardized shore-based infrastructure." The study employs an improved A* algorithm combined with a Dynamic Window Approach (DWA) fused with Velocity Obstacle (VO) methods to achieve smooth navigation and dynamic obstacle avoidance. An innovative low-center-of-gravity sliding self-righting inner cabin and grid-based independent compartment isolation are designed to enhance anti-capsizing capability and single-point fault isolation in crewless configurations. Leveraging existing engineering experience, a pontoon dock composite anchoring system, dedicated power supply protection, and a 5G intelligent monitoring network were constructed to establish a rapidly deployable shore-vessel collaborative management model. Full-scale vessel tests demonstrate that this solution significantly reduces the frequency of sharp turns and roll amplitude, while lowering operation and maintenance costs by over 30%. These results confirm its engineering value and demonstration significance for promoting smart tourism shipping across inland ecological water systems in northern China. |
| Keywords: | Unmanned Sightseeing Vessel; Path Planning; DWA-VO Fusion Algorithm; Sliding Self-righting Inner Cabin; Standardized Shore-based Infrastructure; Chaobai River |
基金
| 1. | 北京水务青年科技骨干人才培养计划资助:“基于图像智能识别技术的滨水空间人员特定行为检测研究与应用” (BWAPT202403) |
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