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[1]王奎民.水下潜器的航路规划技术综述[J].智能系统学报,2014,9(6):653-658.[doi:10.3969/j.issn.1673-4785.201408017]
　WANG Kuimin.The analysis on path planning for underwater vehicle[J].CAAI Transactions on Intelligent Systems,2014,9(6):653-658.[doi:10.3969/j.issn.1673-4785.201408017]

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水下潜器的航路规划技术综述

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 9 期数: 2014年第6期页码: 653-658 栏目: 综述出版日期: 2014-12-25

Title:: The analysis on path planning for underwater vehicle

作者:: 王奎民; 海军驻锦州地区军代表室, 辽宁锦州 121000

Author(s):: WANG Kuimin; Navy Military Representative Office in Jinzhou, Jinzhou 121000, China

关键词:: 水下潜器; 航路规划; 环境建模; 多条件约束; A^*算法; 航路优化

Keywords:: underwater vehicle; path planning; environment modeling; multi-constrains; A^* algorithm; rout optimization; local planning; global planning

分类号:: TP18;U674.941;TJ630

DOI:: 10.3969/j.issn.1673-4785.201408017

文献标志码:: A

摘要:: 通过对水下潜器航路规划技术的研究和分析,概括阐述了当前水下潜器的主要航路规划技术,进而归纳总结出各种主要航路规划技术控制方法的优缺点。同时,指出主要考虑单一简化的海洋环境因素及单一简化因素的不足,并分析了实际情况下需要增加的各海洋因素。通过比较各种方法的优缺点以及结合真实复杂海洋环境因素,利用多约束条件方法,提出基于真实复杂海洋环境因素下航路规划技术的优化方法以及各海洋环境因素对水下潜器航路规划准确性及安全性的影响。进而结合有限多约束海洋因素条件分析了该环境下航路规划的可行性,并在对复杂海洋环境建模的基础上进行仿真验证。最后,对水下潜器的航路规划技术的困难及未来的发展进行了讨论和展望。

Abstract:: The existing path planning methods of underwater vehicles are analyzed, and then the advantages and limitations of the methods are summarized. Due to the problem that ocean environmental factors are oversimplified in current path planning, the importance and influence of the ocean environmental factors are discussed. To adapt to the real ocean environment, the path planning based on multi-constraint ocean conditions is proposed. The simulation show stability and safety of underwater vehicle sailing can be improved by the proposed method. At last, the technology development trends of the underwater vehicle path planning are given.

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　LIU Min,ZOU Jie,FENG Xing,et al.Smooth trajectory planning of an unmanned aerial vehicleusing an artificial bee colony algorithm[J].CAAI Transactions on Intelligent Systems,2011,6():344.

备注/Memo

收稿日期:2014-8-16;改回日期:。
基金项目:国家自然科学基金资助项目(51179038).
作者简介:王奎民,男,1971年生,博士,高级工程师,主要研究方向为水下航行器的控制与仿真。
通讯作者:王奎民.E-mail:wangkuimin2014@163.com.

更新日期/Last Update: 2015-06-16