| 李世奇,孙兵,朱蟋蟋.海流环境下基于改进D*算法的AUV动态路径规划[J].高技术通讯(中文),2022,32(1):84~92 |
| 海流环境下基于改进D*算法的AUV动态路径规划 |
| Autonomous underwater vehicles dynamic path planning based on improved D* algorithm in ocean current environment |
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| DOI：10.3772/j.issn.1002-0470.2022.01.010 |
| 中文关键词: D*算法； 路径规划； 海流环境； 能耗 |
| 英文关键词: D* algorithm, path planning, ocean current environment, energy consumption |
| 基金项目: |
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| 中文摘要: |
| 针对自治水下机器人(AUV)在海洋环境下的路径规划问题，除了要考虑所规划的路径长度和安全避障外，还需要注意海流对规划路径所产生的影响。考虑到海流对AUV的能耗影响较大，本文将海流对AUV能耗的影响建立代价模型，应用到D*路径规划算法中，使AUV可以利用海流减少能耗；对于规划路径会紧贴障碍物边缘的问题，本文在D*算法代价函数的基础上增加了障碍物威胁约束，以保证规划的路径更安全。利用三次均匀B样条曲线拟合模型进行路径平滑处理，得到优化的AUV规划路径。通过仿真实验可以看出改进后的算法取得了良好的效果。 |
| 英文摘要: |
| For the path planning of autonomous underwater vehicle (AUV) in the marine environment, in addition to the planned path length and safe obstacle avoidance, it is necessary to pay attention to the impact of ocean currents on the planned path. Considering that ocean currents have a greater impact on the energy consumption of AUV, this paper establishes a cost model for the impact of ocean currents on AUV energy consumption and applies them to the D* path planning algorithm, so that AUV can use ocean currents to reduce energy consumption. In addition, aiming at the problem that the planned path will be close to the edge of the obstacle, this article adds obstacle threat cost items on the basis of the D* algorithm cost function to ensure that the planned path is safer. The uniform B-spline curve fitting model is used for path smoothing, and the optimized AUV planning path is obtained. Simulation experiments show that the improved algorithm has achieved good results. |
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