基于混合势场法的无人潜航器路径规划及编队方法研究

Research on path planning and obstacle avoidance method of underwater unmanned vehicle based on hybrid potential field method

针对水下无人潜航器航行与探测作业应用过程中避障、航向保持、路径跟踪多参数控制以及欠驱动问题,提出一种混合势场路径规划及避障方法。以虚拟力的理念,将潜航器避障算法与路径跟踪算法进行混合,合并为统一的广义势场架构。该方法将避障、航向保持、路径跟踪等多自由度驱动问题进行统一,以单输出的形式展现,适合单舵控制的欠驱动水下无人潜航器。利用"海翔-H"混合动力水下无人潜航器进行实环境下的路径跟踪、单障碍避障、双障碍避障、多障碍连续避障的航行试验,验证混合势场法的有效性。

Aiming at the problems of obstacle avoidance,heading keeping,path tracking,multi-parameter control and under-actuation in the process of UUV operation application,a hybrid potential field on path planning and obstacle avoidance method is proposed.Based on the concept of virtual force,the submarine obstacle avoidance algorithm and the path tracking algorithm are mixed and merged into a unified generalized potential field architecture.This method unifies the multi-degree-of-freedom driving problems such as obstacle avoidance,heading maintaining,and path tracking,and presents it in the form of a single output,which is suitable for under-driven UUV.Then the Haixiang-H hybrid UUV carried out the navigation test of path tracking,single obstacle avoidance,double obstacle avoidance,and multiple obstacle continuous obstacle avoidance in real environment,which verified the effectiveness of the hybrid potential field method.