基于JPS-COSPS的水下潜航器三维安全航迹规划研究  

Research on three dimensional safe route planning of underwater vehicle based on JPS-COSPS

作　　者：郑宇航 戴晓强[1] 王莹 曾庆军[1] Zheng Yuhang;Dai Xiaoqiang;Wang Ying;Zeng Qingjun(School of Automation,Jiangsu University of Science and Technology,Zhenjiang 212100,China;School of Computer Science,Jiangsu University of Science and Technology,Zhenjiang 212100,China)

机构地区：[1]江苏科技大学自动化学院,镇江212100 [2]江苏科技大学计算机学院,镇江212100

出　　处：《战术导弹技术》2023年第4期78-84,94,共8页Tactical Missile Technology

基　　金：江苏省科技项目(BE2018103)。

摘　　要：针对A^(*)算法在水下潜航器的导航规划任务中搜索效率低、安全性差、平滑度欠佳等问题,提出一种基于JPS-COSPS的三维航迹规划方法。该方法在三维栅格环境中,引入临界障碍与周围点集(COSPS),降低三维环境复杂性;将周围点集作为JPS算法寻路过程中的可行跳点,降低三维环境下JPS算法的寻路难度,提高路径安全性;通过拐点删除与曲线优化,拟合得到转折点少、曲率连续的优秀路径。仿真结果表明,此方法具有良好的全局搜索能力,与对比算法相比,搜索速度缩短60%以上,规划出的航迹安全且平滑,有利于导航任务的顺利进行。Aiming at the problems such as low search efficiency,poor security and poor smoothness of A^(*) algorithm in the navigation planning task of underwater vehicle,a 3D route planning method based on JPSCOSPS was proposed.With the method,the Critical Obstacle and Surrounding Point Set(COSPS)is introduced to reduce the complexity of three-dimensional grid environment.The set of surrounding points is taken as the feasible jump points in the process of JPS algorithm's route finding,which reduces the difficulty of JPS algorithm's route finding in 3D environment and improves the route security.An excellent route with few inflection points and continuous curvature was obtained by the method of inflection point deletion and curve optimization.The simulation results show that this method has good global search ability,the search speed is shortened by more than 60%compared with the comparison algorithm,and the planned route is safe and smooth,which is conducive to the smooth navigation task.

关 键 词：水下潜航器 航迹规划 跳点搜索算法 临界障碍与周围点集 A^(*)算法 导航 B样条曲线 

分 类 号：U612.1[交通运输工程—船舶及航道工程]