基于人工势场与速度合成的AUV路径规划  

Path Planning for Autonomous Underwater Vehicle Based on Artificial Potential Field and Velocity Synthesis

作　　者：王超[1] 朱大奇[1] 

机构地区：[1]上海海事大学水下机器人与智能系统实验室,上海201306

出　　处：《控制工程》2015年第3期418-424,共7页Control Engineering of China

基　　金：上海市科委创新行动计划项目(14JC1402800;13510721400);上海市教委科研创新研究重点项目(13ZZ123)

摘　　要：水下环境与地面环境有着本质区别,海流对自治水下机器人航行的影响远大于地面移动机器人所受风速的影响,因此,AUV(Autonomous Underwater Vehicle)水下作业的过程中,不仅要避开运动过程中所遇到的障碍物,还要考虑受到海流因素的影响。将人工势场路径规划算法直接应用到AUV路径规划中,显然难以达到路径最优效果。为解决AUV在海流环境下的路径规划问题,本文针对机器人水下航行的特点,在传统人工势场方法的基础上,考虑海流作用,将速度合成的算法与人工势场相结合,克服海流对AUV水下航行的影响,提出一种新的AUV水下路径规划算法。仿真试验表明,所提算法达到了良好的效果。The essential difference exists in underwater environment and ground environment. The influence of ocean current for Autonomous Underwater Vehicle （AUV） navigation is greater than the influence of wind for the ground mobile robot, so AUV is affected by the current factors and the obstacles in underwater environment. It is obvious that traditional artificial potential field method is difficult to achieve the optimal path if it is directly applied to AUV path planning. To solve the problem of path planning for AUV in the current environment, this paper presents a new kind of AUV underwater path planning algorithm on the basis of the artificial potential field method. According to the characteristics of the underwater vehicle navigation and combination of the speed synthesis algorithm and the artificial potential field method, the influence of ocean current for AUV underwater navigation is overcome. Simulation results show that the proposed algorithm achieves good effect.

关 键 词：自治水下机器人 海流环境 人工势场 速度合成 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]