动态不确定环境下水下机器人在线实时路径规划

On-Line Real-Time Path Planning for Underwater Vechicle in Dynamic Uncertain Environment

水下环境中海流变化复杂,许多障碍物处于运动当中,路径规划成为水下机器人的1个难题。本文提出1种基于导航代价的水下机器人路径规划方法,采用几何方法证明机器人航向角与导航距离以及海流影响力之间的关系,使得代价函数的计算简化到航向角和海流角度之间的加减运算,大大减少了计算量。在路径规划的过程中采用分段规划的策略,即保证了航向角的稳定性,又保证了实时性。

Path planning is a difficult problem for AUV because of timevarying ocean currents and some moving obstacles. The relationship between heading angle and cost function was proved, and the algo rithm completed the online realtime navigation of AUV. Experimental results show that the robot can successfully avoid the moving obstacle, and can save energy in the environment of the currents.