鱼雷技术2011，Vol.19Issue(5)：365-369,375,6.
多约束条件下UUV空间航迹规划
Three-dimensional Path Planning for UUV with Multiple Constraints
摘要
Abstract
A three-dimensional (3D) path planning approach on the basis of safe sail surface and threat map is proposed for a UUV in multi-constraint condition. A safe sail surface is constructed to predigest the 3D search space, reducing the 3D path planning to 2D path planning. Then, a threat map is established for unification of hostile threat and terrain threat, and a threat cost and threat level heuristic factor are introduced. In the end, the A* algorithm is applied to path search to obtain an optimum path. Simulation results illustrate that the proposed approach is simple and fast, and the generated path can meet the requirements of terrain following, terrain evading and threat evading.关键词
无人水下航行器/3D航迹规划/多约束/威胁地图Key words
unmanned underwater vehicle(UUV)/ three-dimensional path planning/ multi-constraint/ threat map分类
军事科技引用本文复制引用
严浙平,赵玉飞,陈涛..多约束条件下UUV空间航迹规划[J].鱼雷技术,2011,19(5):365-369,375,6.基金项目
哈尔滨工程大学基础研究基金(HEU002040260755),哈尔滨工程大学中央高校基础研究基金(HEUCF100412). （HEU002040260755）
