张禹, 徐红丽, 韦茵, 封锡盛. 基于数字海图的自主水下机器人路径规划研究[J]. 机器人, 2006, 28(3): 321-325.
引用本文: 张禹, 徐红丽, 韦茵, 封锡盛. 基于数字海图的自主水下机器人路径规划研究[J]. 机器人, 2006, 28(3): 321-325.
ZHANG Yu, XU Hong-li, WEI Yin, FENG Xi-sheng. Path Planning of AUV Based on Digital Charts[J]. ROBOT, 2006, 28(3): 321-325.
Citation: ZHANG Yu, XU Hong-li, WEI Yin, FENG Xi-sheng. Path Planning of AUV Based on Digital Charts[J]. ROBOT, 2006, 28(3): 321-325.

基于数字海图的自主水下机器人路径规划研究

Path Planning of AUV Based on Digital Charts

  • 摘要: 为了解决远程自主水下机器人(LAUV)路径规划问题,提出一种基于数字海图的路径规划算法.该算法对传统人工势场法进行了有效改进,克服了传统人工势场法固有的缺点和不足,可以用于LAUV离线和在线路径规划.其有效性已在半物理实时仿真平台上得到了验证.

     

    Abstract: To solve the problem of path planning of LAUV(Long-distance Autonomous Underwater Vehicle),a path planning algorithm based on digital charts is presented.The algorithm overcomes the drawbacks of traditional artificial field methods,and is used to on-line and off-line path planning of LAUV.Its effectiveness is verified by simulation experiments on the semi-physical simulation platform.

     

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