基于分层思想的AUV路径规划算法研究  

Study on AUV Path Planning Algorithm Based on Spatial Stratification

作　　者：徐言民[1,2] 昌政 赵俊超 关宏旭[1,2] 王岩 XU Yanmin;CHANG Zheng;ZHAO Junchao;GUAN Hongxu;WANG Yan(Wuhan University of Technology,School of Navigation,Wuhan430063,China;Hubei Province Key Laboratory of Inland Waterway Transport Technology,Wuhan430063,China;Changjiang Zhenjiang Waterway Agency,Zhenjiang21200,China)

机构地区：[1]武汉理工大学航运学院,武汉430063 [2]内河航运技术湖北省重点实验室,武汉430063 [3]长江镇江航道处,镇江21200

出　　处：《武汉理工大学学报（交通科学与工程版）》2018年第6期901-905,共5页Journal of Wuhan University of Technology（Transportation Science & Engineering）

摘　　要：自主水下航行器(autonomous underwater,vehicle,AUV)对认识、研究、开发海洋有着重要的意义,其路径规划的研究对AUV的航行安全及工作效率提高起着重要的作用.针对水下复杂环境、障碍物不规则、规划困难等问题,提出适用于三维空间路径规划的空间分层路径规划方法.通过分层的方式表达空间,简化环境模型,并构建了路径规划的目标函数.使用逆向逐步搜索路径优化方法,提高了路径实用价值.仿真结果表明,设计路径规划方法简便有效,适用于复杂水下环境.Autonomous Underwater Vehicle(AUV)is of great significance to the understanding,research,and development of the ocean.The study of AUV path planning plays an important role in improving AUV's navigation safety and working efficiency.In order to solve the problems of complicated underwater environment,irregular obstacles and difficult planning,a spatial stratification path planning method suitable for three-dimensional spatial path planning was proposed.The space was expressed in a hierarchical way,the environmental model was simplified,and the objective function of path planning was constructed.Finally,the reverse step-by-step search path optimization method was used to improve the practical value of the path.Simulation results show that the design path planning method is simple and effective,and it is suitable for complex underwater environments.

关 键 词：自主水下航行器 复杂环境 路径规划 空间分层 路径优化 

分 类 号：U674.941[交通运输工程—船舶及航道工程]