[1]李娟,张韵,陈涛.改进RRT算法在未知三维环境下AUV目标搜索中的应用[J].智能系统学报,2022,17(2):368-375.[doi:10.11992/tis.202105019]
　LI Juan,ZHANG Yun,CHEN Tao.Application of the improved RRT algorithm to AUV target search in an unknown 3D environment[J].CAAI Transactions on Intelligent Systems,2022,17(2):368-375.[doi:10.11992/tis.202105019]
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改进RRT算法在未知三维环境下AUV目标搜索中的应用

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 17 期数: 2022年第2期 页码: 368-375 栏目: 学术论文—智能系统 出版日期: 2022-03-05
Title:
Application of the improved RRT algorithm to AUV target search in an unknown 3D environment
作者:
李娟1,2, 张韵2, 陈涛1,2
1. 哈尔滨工程大学 海洋装置与控制技术研究所，黑龙江 哈尔滨 150001;
2. 哈尔滨工程大学 智能科学与工程学院，黑龙江 哈尔滨 150001
Author(s):
LI Juan1,2, ZHANG Yun2, CHEN Tao1,2
1. Institute of Ocean Installations and Control Technology, Harbin Engineering University, Harbin 150001, China;
2. School of Intelligent Science and Engineering, Harbin Engineering University, Harbin 150001, China
关键词:
自主水下航行器; 目标搜索; 快速扩展随机树; 局部路径规划; 水下环境; 滚动规划; 实时搜索; 决策
Keywords:
autonomous underwater vehicles; target search; rapidly exploring random tree; local path planning; underwater environment; rolling planning; real-time search; decision-making
分类号:
TP24
DOI:
10.11992/tis.202105019
摘要:
针对未知水下环境下的自主水下航行器（autonomous underwater vehicle，AUV）目标搜索问题，传统方法搜索速度慢且以解决二维平面下搜索问题为主，本文提出了一种基于改进RRT (rapid-exploration random tree)的未知三维环境目标搜索算法。在搜索方面，分别建立了包括目标存在概率地图、不确定度地图、区域遍历度地图在内的实时地图并设定其更新规则，根据搜索目标建立决策函数；在局部规划方面，将滚动规划与改进RRT算法相结合，规划出到搜索决策点的路径。二者的结合，实现了AUV在三维空间下在线实时搜索。仿真表明，该算法具有较强的遍历能力，提高了三维空间下目标搜索的速度。
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备注/Memo

收稿日期:2021-05-13。
基金项目:国家自然科学基金项目(51809060，5217110503)；黑龙江省自然科学基金项目(E2017014)
作者简介:李娟，教授，博士，主要研究方向为水下机器人、船舶智能控制和多智能体系统。获国防科技进步特等奖1项、一等奖2项、二等奖1项。获授权国家发明专利7项。出版学术著作2部，发表学术论文30余篇;张韵，硕士研究生，主要研究方向为水下机器人的智能规划与搜索;陈涛，教授，主要研究方向为水下无人航行器控制。主持和参与国家自然科学基金2项、黑龙江省自然科学基金1项、装备预研及研制项目6项、获国防科技进步一等奖2项、国防科技进步特等奖1项，国家科技进步二等奖1项。发表学术论文30余篇。
通讯作者:陈涛.E-mail:chentao_7777@163.com

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