一种自主水下航行器路径规划算法

Path Planning Algorithm for Autonomous Underwater Vehicle

提出了一种自主水下航行器穿越雷区的路径规划算法。将路径规划分为全局路径规划和局部路径规划两个部分,建立了水雷分布的Voronoi图,采用遗传算法规划出初步的全局最优路径。自主水下航行器按照全局最优路径航行时,利用前视声纳作为探测仪器。根据所测得的障碍物相对于自主水下航行器的位置关系设计出一个模糊推理系统(FIS)求解其避障角度,完成局部路径规划。仿真结果表明了这种算法的有效性。

A path-planning algorithm for Autonomous Underwater Vehicle （AUV） while going across a minefield was proposed. The path planning includes two parts, global path planning and local path planning, The Voronoi diagram of mine distribution was established, and then global optimal path was planned using genetic algorithm. Looking forward sonar is used as measuring instrument while AUV tracks the global optimal path, A fuzzy inference system （F1S） was designed to derive the obstacle-avoiding angle based on the position relationship of the A UV and the obstacle, and then the local path planning was achieved. Simulation results show the efficiency of the algorithm.