提出兼顾风险与能耗的水面航行器动态路径规划方法
RENEW: Risk- and Energy-Aware Navigation in Dynamic Waterways
- 分层设计：高层拓扑规划+底层安全走廊优化
- 实时识别不可通行区，动态调整安全约束
- 首个融合路径多样性与自适应避障的海上导航框架
我们提出RENEW，一种针对动态环境（如水流扰动）中自主水面航行器（ASV）的全局路径规划方法。RENEW采用统一的风险与能耗感知策略，通过动态识别不可通行区域并实施自适应安全约束保障航行安全。受航海应急规划启发，该方法采用尽力而为策略，在恶劣条件下维持控制能力。其分层架构结合高层约束三角化以实现拓扑多样性，以及低层在安全走廊内的轨迹优化。基于真实海洋数据验证，RENEW是首个同时解决自适应不可通行性与路径拓扑多样性的鲁棒海上导航框架。
原文摘要 · Abstract (English)
We present RENEW, a global path planner for Autonomous Surface Vehicle (ASV) in dynamic environments with external disturbances (e.g., water currents). RENEW introduces a unified risk- and energy-aware strategy that ensures safety by dynamically identifying non-navigable regions and enforcing adaptive safety constraints. Inspired by maritime contingency planning, it employs a best-effort strategy to maintain control under adverse conditions. The hierarchical architecture combines high-level constrained triangulation for topological diversity with low-level trajectory optimization within safe corridors. Validated with real-world ocean data, RENEW is the first framework to jointly address adaptive non-navigability and topological path diversity for robust maritime navigation.
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