基于几何算法的水下航行器路径规划

Underwater-vehicle path planning based on geometric algorithm

在分析水下航行器路径规划影响因素及主要障碍物特点的基础上,提出了一种基于几何算法的水下航行器路径规划算法,并采用该算法对障碍物进行建模和路径规划研究,解决了水下航行器航经多障碍物海区的路径规划问题。最后,通过仿真试验验证了该算法的准确性与可行性。

Based on the analysis of the factors which affect the underwater path planning and the characteristics of the obstacles,a new method of marine path planning was presented based on geome-tric algorithm.This method used for modeling fraises and researching the path planning solved the problem of navigating in complex areas with lots of fraises.The emulation verification shows that this method of path planning is effective and feasible.