一种基于多目标约束下的UUV航迹规划算法  

A path planning algorithm for uuv based on multi-objective constraint

作　　者：韩喜红 丁天明 郑海林 刘虎 鞠拓 HAN Xi-hong;DING Tian-ming;ZHENG Hai-lin;LIU Hu;JU Tuo(School of Ship and Maritime Transport,Zhejiang Ocean University,Zhoushan 316022,China)

机构地区：[1]浙江海洋大学船舶与海运学院,浙江舟山316022

出　　处：《舰船科学技术》2023年第8期84-89,共6页Ship Science and Technology

基　　金：浙江省教育厅项目(Y202044638);舟山市科技计划项目(2021CZ1010)。

摘　　要：针对无人水下航行器多约束条件下最优航迹快速规划问题,通过设置航行区域校正点及误差约束,建立可行航迹最短的目标函数,提出一种基于最小转向角的搜索算法。对航迹最短、转向角最小的球形可搜索区域内的校正点误差校正,结果表明:在不考虑和考虑转向角约束的2种情况下,基于最小转向角算法的航迹长度为106350 m,比不考虑转向角约束的航迹长度缩短22559 m,共经过8次校正点,总转向角度为120.66°,航迹方向最贴近起点和终点连线方向,航迹光滑没有折回、比邻、平行的现象,可以在通信条件受限的情况下,校正误差实时自主定位。Aiming at the problem of fast optimal path planning for unmanned underwater vehicles with multiple constraints,the objective function of the shortest feasible path is established by setting the correction points and error constraints of the navigation area,and a search algorithm based on the minimum steering angle is proposed.The error correction of correction points in the spherical searchable area with the shortest track and the smallest steering angle is carried out.The results show that the track length based on the minimum steering angle algorithm is 106350 m without considering and considering the steering angle constraint,which is 22559 m shorter than that without considering the steering angle constraint.It passes through eight correction points,and the total steering angle is 120.66°.The track direction is closest to the linear direction of the starting point.The track is smooth without turning back,neighborhood and parallelism.The correction error can be real-time and autonomously located under limited communication conditions.

关 键 词：无人水下航行器 航迹规划 转向角 校正点 

分 类 号：U691[交通运输工程—港口、海岸及近海工程]