| 基于虚拟势场理论的AUV局部路径规划方法 |
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| 引用本文： | 焦鹏,王宏健,丁福光.基于虚拟势场理论的AUV局部路径规划方法[J].中国造船,2007,48(1):76-81. |
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| 作者姓名： | 焦鹏 王宏健 丁福光 |
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| 作者单位： | 1. 哈尔滨工程大学自动化学院,黑龙江,哈尔滨,150001
2. 哈尔滨工业大学机电工程学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 针对自治式水下潜器（AUV）局部路径规划问题，基于虚拟势场理论研究，提出了虚拟力概念，并设计了一种改进型虚拟势场局部规划算法，解决了经典虚拟势场能算法中存在的零合力与U型障碍的局部极小问题：当AUV陷入局部极小时通过调用相应的逃避算法来摆脱局部极点。仿真结果验证了该算法对于克服虚拟势场能中存在的局部极点的有效性和可行性。
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| 关 键 词： | 船舶、舰船工程 自治式水下潜器 路径规划 势场法 局部极小 |
| 文章编号： | 1000-4882（2007）01-0076-06 |
| 收稿时间： | 2005-04-11 |
| 修稿时间： | 2005-10-12 |
Local Path Planning Method for Autonomous Underwater Vehicle Based on Virtual Field Force |
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| JIAO Peng,WANG Hong-jian,DING Fu-guang.Local Path Planning Method for Autonomous Underwater Vehicle Based on Virtual Field Force[J].Shipbuilding of China,2007,48(1):76-81. |
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| Authors: | JIAO Peng WANG Hong-jian DING Fu-guang |
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| Abstract: | Using the virtual force conception,a navigation algorithm for Autonomous Underwater Vehicle(AUV) local path planning on the basis of virtual-field-force method is presented and an improved Virtual Field Force(VFF) algorithm for local path planning is designed in this paper.It is emphazised that the local minimum problem caused by null resultant force or U shape obstacle is studied.Moreover,the potential-field method in conjunction with virtual force conception is considered as the basis of the navigation algorithm.When AUV gets trap,the algorithm is applied in order to avoid local minimum.Simulation results show that the algorithm recommended by authors is able to well solve the local minimum problem. |
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| Keywords: | ship engineering AUV path planning virtual-field-force method local minimum |
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