基于通视性分析的UUV目标测试航路快速规划方法研究  

Research of Fast Planning Method for UUV Target Testing Route Based on Inter-visibility Analysis

作　　者：李金亮[1] LI Jinliang(Unit 93,No.91404 Troops of PLA,Qinhuangdao 066001)

机构地区：[1]中国人民解放军91404部队93分队

出　　处：《舰船电子工程》2018年第7期52-55,共4页Ship Electronic Engineering

摘　　要：水下无人航行器(UUV)作为一种能在复杂海洋环境下完成侦查监视,情报收集,甚至是作战任务的新型武器装备,在当今军事装备的发展研究中越来越受到重视。航路规划的目的是考虑各种复杂因素为航行器规划出一条安全隐蔽、耗费代价小的路径,其决定了水下无人航行器智能化程度的高低,是自主导航中的一个重要组成部分。论文主要研究海洋环境下水下无人航行器的快速航路规划方法,先为海洋环境建立规划空间模型,然后在该模型上进行了基于通视性分析的航路快速规划方法研究。As a new type of weaponry,Underwater Unmanned Vehicle（UUV）can be used for reconnaissance and surveil-lance,intelligence gathering and even combat missions in the complicated ocean environment. UUV is getting more and more atten-tion today. The purpose of path planning is finding a safe and efficient path in the presence of obstacles and other constraints. It＇s animportant part of autonomous navigation system. In this paper,the problems of finding an optimal path for an UUV under ocean en-vironment is discussed. First the marine environment modeling for path planning is established,then route planning methods basedon inter-visibility method are studied.

关 键 词：水下无人航行器 航路规划 通视性方法 海洋环境建模 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]