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.
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.
出处
《机器人》
EI
CSCD
北大核心
2006年第3期321-325,共5页
Robot
基金
国家自然科学基金资助项目(F030605)
辽宁省自然基金资助项目(20041025)
关键词
自主水下机器人
路径规划
人工势场法
数字海图
AUV( autonomous underwater vehicle)
path planning
artificial field method
digital chart