摘要
AUV的路径规划算法是AUV最为核心的技术之一。本文在分析AUV自主巡航技术背景的基础上,综述针对海底环境的全局路径规划环境建模方法的研究现状,并比较栅格法、拓扑法和可视图法的优缺点;讨论了国内外学者在探索海流对AUV全局路径规划环境建模影响方面的研究进展。基于对AUV海流影响研究现状,展望了该领域的发展方向,并给出了2种考虑洋流影响的AUV全局路径规划环境建模算法。
AUV path planning algorithm is one of the core technologies of AUV.Based on the analysis of the background of AUV autonomous cruise technology,the paper summarizes the research status of the global path planning environment modeling method for the seabed environment,and compares the advantages and disadvantages of the grid method,topology method and viewable method;Scholars'research progress in exploring the impact of ocean currents on AUV global path planning environment modeling.Based on the current status of research on the impact of AUV currents,the paper looks forward to the direction of development in this field,and gives two AUV global path planning environment modeling algorithms that consider the impact of ocean currents.
作者
郭银景
侯佳辰
吴琪
苑娇娇
吕文红
GUO Yin-jing;HOU Jia-chen;WU Qi;YUAN Jiao-jiao;LV Wen-hong(College of Electronic and Information Engineering,Shandong University of Science and Technology,Qingdao 266590,China;College of Transportation,Shandong University of Science and Technology,Qingdao 266590,China;Qingdao Huanghai University,Qingdao 266555,China)
出处
《舰船科学技术》
北大核心
2021年第9期12-18,共7页
Ship Science and Technology
基金
山东省重点研发计划(公益类专项)项目(2018GHY115022)
国家自然科学基金资助项目(61471224)。
关键词
自主式水下航行器
全局路径规划
环境建模算法
水下三维建模
海流影响
autonomous underwater vehicles
global path planning
environment modeling algorithm
underwater three-dimensional modeling
ocean currents
