三维环境下采用势函数对AUV进行路径规划

The Potential Function Is Used to Plan the Path of AUV in 3D Environment

本文研究了在三维环境下利用改进势函数对自主式水下潜航器(AUV)的路径规划. 在传统三维 绕球流动中, 是将均匀流与偶极流进行叠加, 但这种叠加只能适用于同一方向水流速度相同时 对AUV进行路径规划, 且无法设置目标点, 从某点出发只能到达该流线的终点. 为了加强普适性, 考虑将三维偶极流与三维点汇进行叠加, 使得能在规划空间内各处流速都不同时对AUV进行路径 规划, 且能设置固定目标点. 同时, 对障碍物形状进行改进, 考虑了椭球形障碍物的绕流流动. 仿真 结果表明, 改进的势函数能够在不同环境下为AUV规划出一条可行的航路。

The present study focuses on the path planning of an Autonomous Underwater Vehicle (AUV) in a three-dimensional environment using an improved potential function. In the traditional three-dimensional flow around a sphere, the superposition of uniform flow and dipole flow is limited to scenarios where the flow velocity remains constan- t in one direction, making it impossible to set a target point and only allowing for reaching the end of a flow line from a certain point. To enhance versatility, we pro- pose superimposing three-dimensional dipole flows and three-dimensional point sinks, enabling AUV path planning even when there are varying flow velocities within the planning space and allowing for setting fixed target points. Additionally, we improve upon obstacle representation by considering ellipsoidal obstacles and their correspond- ing flows. Simulation results demonstrate that this improved potential function can effectively plan feasible routes for AUV in different environments.