以海洋观测为任务目标,以AUV航行能量最优为约束,设计了AUV的采样路径规划方法。首先,利用连续空间填充式采样法快速搜索研究海域的采样点位置,其次,结合采样设计方法得到的采样点位置结果,对AUV的采样路径规划的问题进行描述,设计基于改进粒子群算法的路径规划方法,最后,基于真实海洋地形及海水温度数据,对采样和路径规划方法进行实验验证。 Taking the ocean observation as the mission objective, the AUV sampling path planning method is designed with the optimal energy of the AUV as the constraint. First of all, the continuous space-fill sampling method is used to search the sampling points of the research area rapidly. Secondly, the sampling path planning of the AUV is described based on the results of the sampling points obtained by the sampling design method. The path based on the improved particle swarm optimization Finally, based on the real oceanographic topography and seawater temperature data, the sampling and path planning methods are validated experimentally.