基于人工势场法的AUV避障算法研究综述  

Overview of AUV Obstacle Avoidance Algorithm Based on Artificial Potential Field Method

作　　者：郭银景 刘琦 鲍建康 徐锋 吕文红 GUO Yinjing;LIU Qi;BAO Jiankang;XU Feng;LVWenhong(College of Electronic and Information Engineering,Shandong University of Science and Technology,Qingdao,Shandong 266590,China;Qingdao Intelligent Ocean Technology Co.,Qingdao,Shandong 266590,China;College of Electrical Engineering and Automation,Shandong University of Science and Technology,Qingdao,Shandong 266590,China;College of Transportation,Shandong University of Science and Technology,Qingdao,Shandong 266590,China)

机构地区：[1]山东科技大学电子信息工程学院,山东青岛266590 [2]青岛智海牧洋有限公司,山东青岛266590 [3]山东科技大学电气与自动化工程学院,山东青岛266590 [4]山东科技大学交通学院,山东青岛266590

出　　处：《计算机工程与应用》2020年第4期16-23,共8页Computer Engineering and Applications

基　　金：山东省重点研发计划（公益类专项）（No.2018GHY115022）;国家自然科学基金（No.61471224）

摘　　要：简述了人工势场法的概念,分析了人工势场法的引力和斥力势场模型,指出了人工势场法在应用中存在的水下复杂环境问题、目标不可达问题、局部极小值问题;从考虑复杂障碍物因素和海流因素两方面阐述了水下复杂环境问题的研究现状,从对势场函数进行重新定义或对斥力势场函数进行修正两方面阐述了目标不可达问题的研究现状,从设置虚拟引导点等方面阐述了局部极小值问题的研究现状,并且阐述了几种组合避障算法的研究现状;从构造更完善的势场函数模型、考虑复杂海流因素影响、算法融合以及在算法中加入路径评价机制等方面对人工势场法未来的发展方向进行了展望。First of all,the concept of artificial potential field method is briefly introduced,the models of gravitation and repulsion potential field of artificial potential field method are analyzed,and the problems of complex underwater environment,inaccessibility of target and local minimum value existing in the application of artificial potential field method are pointed out.Then,the research status of the complex underwater environment problem is described from two aspects of considering complex obstacles and current factors,and the potential field function is analyzed.The research status of the problem of the inaccessibility of target is described from two aspects:redefining the number or modifying the repulsion potential field function.The research status of the local minimum problem is described from setting the virtual guide point,and then the research status of several combined obstacle avoidance algorithms is described.Finally,the more perfect potential field function model is constructed,the influence of complex current factors is considered,and the algorithm is integrated.Finally,the future development direction of artificial potential field method is prospected.

关 键 词：自主水下潜航器 人工势场法 海流 目标不可达 局部极小值 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]