[1]苏祥宇,何 燕.AUV 避障路径动态快速规划算法研究[J].机械与电子,2023,41(09):42-47.
　SU Xiangyu,HE Yan.Research on Dynamic Fast Planning Algorithm of Obstacle Avoidance Path for AUVs[J].Machinery & Electronics,2023,41(09):42-47.
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AUV 避障路径动态快速规划算法研究()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
41
期数:
2023年09期
页码:
42-47
栏目:
智能工程
出版日期:
2023-09-25

文章信息/Info

Title:
Research on Dynamic Fast Planning Algorithm of Obstacle Avoidance Path for AUVs
文章编号:
1001-2257 ( 2023 ) 09-0042-06
作者:
苏祥宇; 何 燕
青岛科技大学机电学院,山东 青岛 266061
Author(s):
SU Xiangyu ;  HE Yan
( College of Electrical and Mechanical Engineering , Qingdao University of Science and Technology , Qingdao 266061 , China )
关键词:
水下机器人; 安全会遇距离; 自主避障; 快速路径规划
Keywords:
AUV ;  distance of the safe point of approach ;  self avoidance ;  fast path planning
分类号:
U674.941 ; TP242
文献标志码:
A
摘要:
为提高 AUV 避障路径规划的快速性,提出一种基于最小安全会遇距离的避障路径动态快速规划算法。根据 AUV 和目标船的会遇态势动态评估碰撞风险,通过设定最小安全会遇距离实时解算避障航路点位置。为验证算法的有效性,针对某型 AUV 设计空间制导与控制算法,并基于 MATLAB / Simulink仿真平台构建仿真环境。仿真结果表明,所提避障路径动态快速规划算法能够实现复杂会遇局面下的快速路径规划,有效提高了 AUV 航行安全性。
Abstract:
In order to improve the speed of obstacle avoidance path planning , a dynamic fast planning algorithm is proposed based on the minimum distance of the safe point of approach ( DSPA ) .According to the situation of AUVs and target ships , the collision risks are dynamically assessed , and the location of the obstacle avoidance points is calculated by setting the minimum DSPA.To verify the effectiveness of the proposed algorithm , the guidance and control algorithms are designed for AUVs and simulations are carried out using MATLAB/Simulink.Simulation results show that the proposed algorithm can implement fast path planning in complex environments and improve the navigation safety of AUVs effectively.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2022-12-05
基金项目:国防重点实验室建设项目( JCKYS2021SXJQR-02 )
作者简介:苏祥宇 ( 1997- ),男,河南周口人,硕士研究生,研究方向为船舶导航制导与控制;何 燕 ( 1973 —),女,山东青州人,博士,教授,研究方向为海工装备节能及轻量化技术。
更新日期/Last Update: 2023-09-27