| 基于人工势场法的自治水下机器人路径规划 |
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| 引用本文： | 李欣,朱大奇.基于人工势场法的自治水下机器人路径规划[J].上海海事大学学报,2010,31(2):35-39. |
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| 作者姓名： | 李欣 朱大奇 |
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| 作者单位： | 上海海事大学,信息工程学院,上海201306 |
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| 基金项目： | 上海市教育委员会科技创新项目，教育部高校博士点专项科研基金 |
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| 摘 要： | 为解决自治水下机器人(Autonomous Underwater Vehicle, AUV)的路径规划问题,规划动态人工势场技术路径.在传统人工势场方法的数学模型和仿真试验的基础上,提出1种改进的势场函数,在二维空间中对水下机器人进行数学建模.在Matlab中针对动态障碍物、静态目标物的动态水下环境进行仿真试验.结果表明,运用该技术可以达到良好的效果.
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| 关 键 词： | 自治水下机器人 路径规划 人工势场 动态环境 |
| 收稿时间： | 2009/4/27 0:00:00 |
| 修稿时间： | 2009/10/28 0:00:00 |
Path planning for autonomous underwater vehicle based on artificial potential field method |
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| LI Xin,ZHU Daqi.Path planning for autonomous underwater vehicle based on artificial potential field method[J].Journal of Shanghai Maritime University,2010,31(2):35-39. |
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| Authors: | LI Xin ZHU Daqi |
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| Abstract: | To solve the problem of path planning for Autonomous Underwater Vehicle (AUV), a dynamic artificial potential field technology is introduced into the path planning. On the basis of mathematical models and simulation experiments of the traditional artificial potential field, a modified potential field function is prsented, and a mathematical model of underwater vehicle is established in two dimensional space. Simulation tests are conducted in the dynamic underwater environment with dynamic obstacles and static target in Matlab. Results show that this technique produces good effect. |
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| Keywords: | autonomous underwater vehicle path planning artificial potential field dynamic environment |
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