基于改进人工势场的避障路径规划策略研究

Research on path planning based on improved artificial potential field

随着战争形势的无人化、多样化和跨域化发展,水下无人航行器作为各军事强国抢占水下作战域和海洋不对称作战优势的主要抓手,在未来战争中发挥着越来越重要的作用。由于海洋非结构化环境的复杂性,水下无人航行器在执行任务过程中,需能够在无人干预情况下进行系列操作和任务决策。本文针对水下无人航行器局部路径规划,提出基于速度矢量判断的改进人工势场法的避障航路规划策略,通过增加障碍物斥力场范围,强化目标点附近的引力场,优化障碍物斥力系数,并通过速度矢量判断旋转方向,使得水下无人航行器能够结合环境感知信息进行路径实时调整,最终能够达到安全快速避障。最后结合航行器流体动力与运动控制一体化仿真模型进行仿真分析,验证提出算法的有效性。

With the unmanned,diversified and trans-regional development of the war situation,the underwater unmanned aerial vehicles(UUV)are the main grasp for the military powers to seize the advantages of the underwater battle area and the asymmetric warfare in the sea,play an increasingly important role in future wars.Due to the complexity of the ocean unstructured environment,the AUV needs to be able to perform a series of operations and missiondecisions without human intervention.Aiming at the local path planning of unmanned underwater vehicle,this paper presents an obstacle avoidance route planning strategy based on the improved artificial potential field method.By increasing the range of obstacle repulsion field,strengthening the gravitational field near the target point,optimizing the repulsion coefficient of obstacles,and judging the rotation direction by velocity vector,the AUV can carry out the route combining with environmental perception information.And then the effectiveness of the proposed algorithm is verified by the simulation analysis of the vehicle hydrodynamic and motion control integrated model.