无人水下航行器势场航路规划方法研究

Potential Field Method for Unmanned Underwater Vehicle Path-planning

摘要:

对运动障碍威胁环境下无人水下航行器(UUV)航路规划问题进行了研究;首先分别对规划过程中固定障碍、运动障碍建立了排斥势场,对目标点建立了吸引势场,将航路规划问题转变为寻找最优势场点问题；然后提出一种改进的粒子群算法(NPSO),在UUV航路规划过程中,寻找距离当前路径点固定步长范围内的最优势场点,将其作为下一路径点,最终实现UUV在运动障碍威胁环境中的航路规划；最后对所提方法进行了仿真验证,UUV可以有效躲避固定障碍与运动障碍威胁,寻找到较优航路,取得了较好的仿真效果。

Abstract:

The problem of UUV path-planning under the environment of movement disorders has been addressed. Firstly, potential field method is proposed to build rejection potential field for fixed obstacles and movement disorders, and attractive potential for objective point. Then, a novel particle swarm optimization (NPSO) is proposed and applied to find the optimal potential field point as the next path point, which point of fixed step length distance from the current point, so as to realize UUV path-planning under movement disorders threat. Finally, simulation is presented, demonstrating that UUV can dodge obstacles and threat, and search for the better sea-lane.