面向深海着陆器全局动态路径规划方法

Global Dynamic Path Planning Method for Hadal Lander

为提升深海着陆器三维路径规划全局最优性与动态避障能力,提出了一种融合改进蚁群算法和人工势场法的全局动态路径规划方法。基于传统蚁群算法,引入路径偏移程度,优化构建启发函数,简化栅格地图并优化搜索空间,提升了蚁群算法在三维路径规划中的收敛响应速度。在此基础上,选取改进蚁群算法产生的全局路径中有效关键点作为连续子目标点,融合人工势场法,构建全局路径规划势场模型函数,在保证全局路径规划较优的基础上,提高了路径的平滑性和局部避障能力。利用实验算例验证了方法的有效性,方法能够为水下仪器、水下机器人、水下设备自主导航的规划与优化提供帮助与参考。

In order to improve the global optimality and dynamic obstacle avoidance ability of hadal lander 3 D path planning, a global dynamic path planning method based on the fusion of improved ant colony optimization and artificial potential field algorithm is proposed. Based on the traditional ant colony algorithm, this paper improves the convergence response speed of the ant colony algorithm in 3 D path planning by introducing the degree of path offset, optimizing the construction of heuristic functions, simplifying the grid map and optimizing the search space. On this basis, the key points in the global path generated by the improved ant colony algorithm were selected as continuous suborder punctuation points, and the potential field model function of global path planning by the artificial potential field was constructed. On the basis of ensuring the global optimal path, the smoothness of the path and local obstacle avoidance ability are improved. The effectiveness and superiority of this method were verified by an experimental example, which can provide help and reference for the planning and optimization of autonomous navigation of underwater robots and underwater equipment.