智能系统学报Issue(6)：653-658,6.DOI:10.3969/j.issn.1673-4785.201408017
水下潜器的航路规划技术综述
The analysis on path planning for underwater vehicle
摘要
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 simula⁃tion 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.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Key words
underwater vehicle/path planning/environment modeling/multi-constrains/A∗ algorithm/rout opti-mization/local planning/global planning分类
信息技术与安全科学引用本文复制引用
王奎民..水下潜器的航路规划技术综述[J].智能系统学报,2014,(6):653-658,6.基金项目
国家自然科学基金资助项目（51179038）． （）
