摘要
为提高AUV避障路径规划的快速性,提出一种基于最小安全会遇距离的避障路径动态快速规划算法。根据AUV和目标船的会遇态势动态评估碰撞风险,通过设定最小安全会遇距离实时解算避障航路点位置。为验证算法的有效性,针对某型AUV设计空间制导与控制算法,并基于MATLAB/Simulink仿真平台构建仿真环境。仿真结果表明,所提避障路径动态快速规划算法能够实现复杂会遇局面下的快速路径规划,有效提高了AUV航行安全性。
In order to improve the speed of obstacle avoidance path planning,a dynamic fast planning algorithm is proposed based on the minimum distance of the safe point of approach(DSPA).According to the situation of AUVs and target ships,the collision risks are dynamically assessed,and the location of the obstacle avoidance points is calculated by setting the minimum DSPA.To verify the effectiveness of the proposed algorithm,the guidance and control algorithms are designed for AUVs and simulations are carried out using MATLAB/Simulink.Simulation results show that the proposed algorithm can implement fast path planning in complex environments and improve the navigation safety of AUVs effectively.
作者
苏祥宇
何燕
SU Xiangyu;HE Yan(College of Electrical and Mechanical Engineering,Qingdao University of Science and Technology,Qingdao 266061,China)
出处
《机械与电子》
2023年第9期42-47,共6页
Machinery & Electronics
基金
国防重点实验室建设项目(JCKYS2021SXJQR 02)。
关键词
水下机器人
安全会遇距离
自主避障
快速路径规划
AUV
distance of the safe point of approach
self-avoidance
fast path planning
