一种自治水下机器人垂直面路径规划算法  

A Path Planning Algorithm for Autonomous Underwater Robots in Diving Plane

作　　者：高剑[1] 徐德民[1] 严卫生[1] 

机构地区：[1]西北工业大学航海学院,西安710072

出　　处：《系统仿真学报》2005年第4期806-807,811,共3页Journal of System Simulation

摘　　要：提出了一种基于模糊推理系统(FIS)的自治水下机器人的垂直面运动路径规划算法,并进行了仿真验证。该算法根据当前水下机器人所处的深度和距离海底高度数据,通过模糊推理系统得出期望的航行深度,以避免超深、超浅以及触底等情况的发生,并尽量满足多普勒速度仪(DVL)对距离海底高度的要求。计算机仿真的结果表明该算法是可行有效的,满足自治水下机器人的系统要求。A path planning algorithm for autonomous underwater robots in diving plane is presented. Using fuzzy inference system (FIS), the desired depth is derived according to the depth and the distance to bottom. The computer simulations proved that this path planning algorithm can successfully control the vehicle to avoid diving too deep/low or crashing on the bottom, and keep the proper height to improve the measurement accuracy of the Doppler velocity log (DVL).

关 键 词：自治水下机器人 模糊推理系统 垂直面运动 路径规划 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]