基于改进人工势场法的潜航器避障策略  

Obstacle Avoidance Strategy for Submersible Vehicles Based on Improved Artificial Potential Field Method

作　　者：刘丹[1] 杨晨宇 刘璐[2] 温竞龙 王永华[1] 崔丹凤[1] 薛晨阳[1] LIU Dan;YANG Chenyu;LIU Lu;WEN Jinglong;WANG Yonghua;CUI Danfeng;XUE Chenyang(State Key Laboratory of Dynamic Testing Technology,North University of China,Taiyuan 030051,China;School of Electronic Science and Technology,Xi’an Jiaotong University,Xi’an 710049,China)

机构地区：[1]中北大学省部共建动态测试技术国家重点实验室,太原030051 [2]西安交通大学电子科学与技术学院,西安710049

出　　处：《无人系统技术》2024年第4期95-103,共9页Unmanned Systems Technology

基　　金：山西省科技创新人才团队专项计划资助(202304051001030);山西省回国留学人员科研资助项目(2022-144);山西省基础研究计划(202303021222119)。

摘　　要：针对水下潜航器在复杂水下环境中面临的局部最优解困局及目标点不可达等避障挑战,提出了一种创新的基于改进人工势场法的避障策略。该策略首先通过融入随机扰动机制,显著提升了潜航器在动态环境中的路径探索能力与局部最优陷阱的逃逸能力;随后,为解决目标点不可达问题,策略中创新性地引入了目标调节因子,该因子通过精细调节引力与斥力的平衡关系,并优化引力分段函数的分界值及斥力影响半径,确保潜航器在接近目标时斥力渐减至零,从而实现了潜航器对目标点的精确、稳定到达。实验结果显示,所提策略避障成功率相较于传统人工势场法实现了显著提升,目标点到达率达到100%,验证了所提策略在复杂避障任务中的高效性与可靠性,也为水下潜航器自主导航技术探索了一条新的高效避障方法。An improved artificial potential field method-based obstacle avoidance strategy is proposed for the obstacle avoidance challenges faced by underwater vehicles in complex underwater environments,such as the local optimal solution trap and the unreachable target point.The strategy firstly improves the path exploration ability of the submarine in dynamic environment and the escape ability of local optimal traps by incorporating the random perturbation mechanism;then,in order to solve the problem of unreachable target point,a target adjustment factor is innovatively introduced into the strategy,which ensures that the repulsive force decreases to zero when the vehicle approaches the target by finely adjusting the equilibrium relationship between the gravitational force and repulsive force,and by optimizing the cut-off value of the gravitational force segmentation function and the radius of repulsive force influence,so that the vehicle can accurately and stably arrive at the target point.The experimental results show that the success rate of obstacle avoidance is significantly improved compared with the traditional artificial potential field method,and the arrival rate of the target point reaches 100%.The results not only verify the efficiency and reliability of the proposed strategy in complex obstacle avoidance tasks,but also explore a new and efficient obstacle avoidance method for the autonomous navigation technology of underwater vehicles.

关 键 词：避障策略 人工势场法 局部最优解 随机扰动 目标点不可达 目标调节因子 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]