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针对自主式水下机器人(AUV)在执行作业任务过程中需应对复杂不确定的作业环境,将基于动态权值LPA*算法与基于威胁的变步长滚动时域预测策略相结合,提出一种规划修复方法.该方法解决了AUV在航行过程中遇到突发威胁时规划修复的问题.结合AUV自主航行任务,对规划修复方法进行视景仿真,此方法与完全重规划相比,提高了AUV规划成功率和效率,缩短了规划时间并且满足实时性要求.
In order to deal with the complicated and uncertain working environment of autonomous underwater vehicle (AUV) in the course of carrying out the task, a dynamic weight-based LPA * algorithm is combined with the threat-based variable step size rolling time-domain prediction strategy Planning and rehabilitating method.This method solves the problem that AUV plan to repair when encountering a sudden threat during the course of navigation.With the AUV’s autonomous navigation mission, the visual simulation of planning and rehabilitating method is carried out. Compared with the complete re-planning, this method improves AUV planning success rate and efficiency, shorten the planning time and meet real-time requirements.