基于改进人工势场法的AUV路径规划研究  

Research on AUV path planning based on improved artificial potential field method

作　　者：钱平 齐赛赛 李思奇 孙逊[1] Qian Ping;Qi Saisai;Li Siqi;Sun Xun(Suzhou Vocational University,Suzhou 215204,China)

机构地区：[1]苏州市职业大学,江苏苏州215204

出　　处：《无线互联科技》2023年第1期119-122,共4页Wireless Internet Technology

基　　金：苏州市职业大学研究性课程,项目编号:SZDYKC-220603;苏州市科技计划项目,项目编号:SNG2021037;苏州科技计划项目,项目名称:智慧鲈鱼高效生态养殖应用研究,项目编号:SNG2022064。

摘　　要：AUV是自主式水下潜航器,在水下环境作业等领域起着至关重要的作用。针对传统的人工势场法在AUV局部路径规划中有着易陷入局部极小值问题和目标不可达的问题,文章通过判断局部极小值条件后设置虚拟目标点来解决局部最小值问题,通过改变斥力势场来解决目标不可达问题。MATLAB仿真实验证明了改进的人工势场法在AUV局部路径规划中的可行性,并且解决了传统方法的缺点。AUV is an autonomous underwater vehicle which plays a very important role in the underwater environment.In view of the problem that the traditional artificial potential field method is easy to fall into the local minimum and the target is unreachable in the local path planning of AUV,this paper solves the local minimum problem by setting virtual target points after determining the local minimum condition,and solves the target unreachable problem by changing the repulsion potential field.The feasibility of the improved artificial potential field method in AUV local path planning is proved by MATLAB simulation experiments,and the shortcomings of traditional methods are solved.

关 键 词：AUV 人工势场法 虚拟目标点 

分 类 号：P754[天文地球—海洋科学]