无人水下航行器双层路径规划研究  

The research about bi-level path planning of unmanned underwater vehicle

作　　者：段有艳[1] 

机构地区：[1]昆明冶金高等专科学校,云南昆明650033

出　　处：《自动化与仪器仪表》2017年第5期187-190,共4页Automation & Instrumentation

摘　　要：探讨了当无人水下航行器的任务环境地图较大,且存在一定障碍物时,可采用分层路径规划并依据航路序列顺序跟踪控制的方法来解决该问题。上层规划可以在忽略障碍以及一些环境信息的情况下近似为旅行商(TSP)问题进行求解以获得任务路径点的最优序列,下层规划则对上层生成的最优序列中两目标点之间采用A*算法来进行局部规划,避开障碍物,然后,无人水下航行器根据路径规划算法生成的航路序列顺序跟踪航路点。仿真实验表明,该双层规划方法能较好地实现在全局环境下的任务目标点最优排序并能实现在局部环境下实时路径生成及障碍规避,并分析了不同栅格大小对路径跟踪的影响。This paper discusses the thought that uses hierarchical path planning and the method according to the route and sequence order tracking control to solve path planning, when unmanned underwater vehicle faces a larger task environment map and some obstacles. The optimal sequence that ignore obstacles and some environmental information to solve and get mission path points is selected to be the upper level planning, and the lower level planning uses A ＊ algorithm to solve the local planning between two target points that is obtained from the optimal sequence of upper level for avoiding obstacles. Simulation results that use the path planning algorithm to generate route waypoint sequence order for tracking waypoints shows that the bi-level planning method can implement the optimal target points＇ sort on the global environment, achieve the real -time path generation and avoid obstacles in the local environment. Finally, the effect of different grid sizes on path tracking is an- alyzed.

关 键 词：双层路径规划 环境建模 TSP问题 遗传算法 A＊算法 路径跟踪控制 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP301[自动化与计算机技术—控制科学与工程]