论文部分内容阅读
对障碍威胁环境下AUV路径规划问题进行了研究。通过计算AUV与障碍的势场代价,建立躲避障碍代价函数。通过建立趋近目标代价函数,将路径规划问题转变为寻找代价函数最优点问题。然后提出一种基于启发式算法的AUV路径规划方法,其用于寻找代价函数最优点,最终实现AUV在障碍环境中的路径规划;最后对所提方法进行了仿真验证,AUV可以有效躲避障碍与威胁,寻找到较优路径,取得了较好的仿真效果。
AUV path planning problem under the threat environment is studied. By calculating the potential field cost of AUV and obstacle, the obstacle cost function is established. By establishing the approach cost function, the problem of path planning is transformed into finding the optimal point of cost function. Then, a heuristic algorithm based AUV path planning method is proposed, which is used to find the optimal point of the cost function and finally achieve the path planning of AUV in the obstacle environment. Finally, the proposed method is verified by simulation. AUV can effectively avoid obstacles and Threat, to find a better path, and achieved better simulation results.