AUV在未知环境下的基于专家系统三维实时路径规划

Real-time 3-D path planning for AUV in unknown environment based on the expert system

论述了AUV在未知环境的基于专家系统的三维实时路径规划.首先介绍了专家系统的组织结构、知识表达和推理级的设计.最后,给出避碰规划的仿真结果.仿真结果验证了基于规则的局部算法是可靠的,并且适用于任何机器人的三维实时路径规划.

This paper espounded on the realtime 3D path planning for AUV in the unknown environment based on the expert system.First,the paper discussed the frame of the expert system,knowledge expression and rule of inference.Finally,the obstacle avoidance plan was carried out and detailed simulation results were given.The result of simulation demonstrate that the algorithm is powerful and reliable for the 3D path planning of the AUV in the unknown environment and it can be generally used to online plan of 3D path for other kind of robot.