基于社群信息传递机制的AUV路径规划算法  

Path Planning Algorithm Based on Community Information Transmission Mechanism for AUV

作　　者：江亚峰[1,2,3] 张亮 袁明新[1,2,3] 王舜 刘维[4] JIANG Ya-feng;ZHANG Liang;YUAN Ming-xin;WANG Shun;LIU Wei(School of Mechanical&Power Engineering,Jiangsu University of Science and Technology,Zhangjiagang 215600,China;Zhangjiagang Industrial Technology Research Institute,Jiangsu University of Science and Technology,Zhangjiagang 215600,China;Suzhou Institute of Technology,Jiangsu University of Science and Technology,Zhangjiagang 215600,China;T-SEA Marine Technology Co.,Ltd.,Suzhou 215600,China)

机构地区：[1]江苏科技大学机电与动力工程学院,张家港215600 [2]张家港江苏科技大学产业技术研究院,张家港215600 [3]江苏科技大学苏州理工学院,张家港215600 [4]中科探海(苏州)海洋科技有限责任公司,苏州215600

出　　处：《科学技术与工程》2025年第6期2419-2427,共9页Science Technology and Engineering

基　　金：工信部高技术船舶项目([2019]360);张家港市产业链创新产品攻关计划(ZKC2206);张家港市产学研预研资金(ZKYY2253,ZKYY2328)。

摘　　要：为了提高自主水下机器人(autonomous underwater vehicle,AUV)的路径规划能力和效率,提出了基于社群信息传递机制的AUV路径规划算法。基于社群信息传递机制,首先设计了全局短、长连接算子,实现了已规划路径点邻域内最优点搜索和邻域外概率搜索;然后设计了局部短、长连接算子,实现了路径中心点的四边界衍生点搜索以及衍生点外可行路径连接;最后完成了AUV路径规划算法流程设计。6种模拟和2种海底地图仿真测试表明,与其他算法相比,该算法具有规划能力强、规划效率高以及规划路径光滑的优点。In order to improve the path planning ability and efficiency of AUV(autonomous underwater vehicle),an AUV path planning algorithm based on the community information transmission mechanism was proposed.Firstly,based on the community information transmission mechanism,the global short and long connection operators were designed to achieve the optimal search of the neighborhood of the planned path points and the probabilistic search outside the neighborhood.Then,the local short and long connection operators were designed,which implements the search for four boundary derived points of the path center point and the connections of feasible paths outside the derived points.Finally,the AUV path planning algorithm flow was completed.Six simulation and two seabed map simulation tests show that,compared with other algorithms,the algorithm has the advantages of strong planning ability,high planning efficiency,and smooth planning path.

关 键 词：自主水下机器人 社群信息 长连接 短连接 路径规划 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]