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
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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.