基于A^(*)算法与贝塞尔曲线的AUV路径规划算法研究  

Research on Path Planning Algorithm for Autonomous Underwater Vehicles(AUV)Based on A^(*) Algorithm and Bézier Curves

作　　者：丁子轩 DING Zixuan(College of Information and Science Engineering,Shandong Normal University,Jinan 250358,China)

机构地区：[1]山东师范大学信息科学与工程学院,山东济南250358

出　　处：《海岸工程》2024年第3期225-234,共10页Coastal Engineering

摘　　要：伴随着计算机和其他电子技术发展,在海洋科考及其他水下工程领域,水下自动机器人(AUV)技术也得到了极大发展并被广泛应用。在多种水下任务场景中AUV需要自主规划路线并按照规定路线行驶,辅助工程人员完成各种水下工作。传统的路径规划方法通常利用布谷鸟算法等智能优化算法,存在搜索目标不可达、收敛速度慢、避障能力弱等问题,而A^(*)算法基于栅格地图,虽解决了以上问题,却无法满足AUV对路线平滑性的要求。针对这些问题,本文提出融合A^(*)算法与贝塞尔曲线,从利于AUV水下姿态保持方面,对A^(*)算法进行改进以完成路径规划。基于Windows11操作系统,利用Python搭建仿真环境对本文改进算法进行了仿真实验验证,结果表明,在保障航行的安全下,基于A^(*)算法与贝塞尔曲线法的AUV路径规划不仅可以使路径最短,而且可以使整个路径进一步光滑,有利于保持AUV运行过程姿态稳定。With the development of computer and other electronic technologies,Autonomous Underwater Vehicle(AUV)have shown great potential in the field of marine scientific research and other underwater engineering,assisting engineering personnel in completing various underwater tasks.In most ocean exploration scenarios,AUVs need to autonomously plan routes and navigate according to the specified routes.Traditional path planning methods using intelligent optimization algorithms such as cuckoo search algorithm have issues such as unreachable search targets,slow convergence speed,and poor obstacle avoidance capabilities.Although the A^(*)algorithm based on grid maps solves these problems,it fails to meet the smoothness requirements of AUV routes.Therefore,this study integrates the A^(*)algorithm with Bézier curves to improve path planning,focusing on maintaining AUV underwater posture.The improved algorithm is validated through simulation experiments using a simulation environment built with Python on the Windows 11 operating system.The results show that the AUV path planning based on the A^(*)algorithm and Bézier curves can not only make the path shortest,but also further smooth the entire path while ensuring safe navigation,which is beneficial for maintaining the stable attitude of the AUV during operation.

关 键 词：水下自动机器人 A^(*)算法 贝塞尔曲线 路径规划 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] P754[自动化与计算机技术—控制科学与工程]