华中科技大学学报（自然科学版）2011，Vol.39Issue(z2)：184-187,4.
基于改进人工势场的水下机器人路径规划
Path planning based on improved artificial potential field for autonomous underwater vehicles
王芳 1万磊 1徐玉如 1张玉奎1
作者信息
- 1. 哈尔滨工程大学水下智能机器人技术国防科技重点实验室,黑龙江哈尔滨150001
- 折叠
摘要
Abstract
To overcome the local minimum of traditional artificial potential field method, potential grids were introduced to model the motion environment of autonomous underwater vehicles (AUV). The improved potential filed was constructed based on the different impacts the obstacles have on the grids. The optimal path with the minimum potential was found by accumulating the potential of gridson the path with the potential of the length of the path. Simulation tests were carried out with differ-ent density of grids and obstacles, and the results show that the smoothness of path will be improvedas the number of grids increase, and the plan algorithm will take more time. Moreover, the plan algorithm can make the vehicle reach the target position even though the target point is very close to the obstacle because the plan strategy proposed avoids using the vector of force.关键词
路径规划/水下智能机器人/势能栅格/人工势场/局部极小Key words
path planning/ autonomous underwater vehicles) potential grid/ artificial potential field/ local minimum分类
信息技术与安全科学引用本文复制引用
王芳,万磊,徐玉如,张玉奎..基于改进人工势场的水下机器人路径规划[J].华中科技大学学报（自然科学版）,2011,39(z2):184-187,4.
