数字海洋与水下攻防2026，Vol.9Issue(2)：151-159,9.DOI:10.19838/j.issn.2096-5753.2026.02.004
基于逃生算法的无人潜航器编队避障方法
An Obstacle Avoidance Method for Unmanned Underwater Vehicle Formations Based on Escape Algorithm
摘要
Abstract
Aiming at the key issues of insufficient coordination and proneness to falling into local optima in the obstacle avoidance path planning of unmanned underwater vehicle(UUV)formations,an Escape Algorithm(EA)that integrates crowd emergency evacuation behavior is proposed in this paper.The algorithm adopts an exploration-exploitation two-stage strategy,classifies agents into three categories(calm,follower,and panic)and designs differentiated position update mechanisms,and balances global exploration and local exploitation by combining an adaptive panic index and elite pool guidance.A hybrid reward function integrating navigation,formation maintenance,obstacle avoidance,and inter-UUV safety is constructed,which transforms multi-objective optimization into single-objective optimization to adapt to the requirements of underwater real-time decision-making.Validated by the CEC 2022 standard test functions,EA achieves an average ranking of only 1.58 under the 20-dimensional test configuration,with optimization accuracy,stability,and robustness all superior to the comparative algorithms.In the obstacle avoidance simulation of UUV formations,EA outperforms the comparative algorithms in comprehensive performance in terms of trajectory smoothness,formation maintenance stability,and obstacle avoidance efficiency.This algorithm effectively solves the key issues of insufficient coordination in path planning and proneness to falling into local optima in UUV formation obstacle avoidance,and provides a reliable path planning technical solution for cooperative obstacle avoidance of UUV formations.关键词
逃生算法/无人潜航器/编队避障/智能优化/路径规划Key words
escape algorithm/unmanned underwater vehicle/formation obstacle avoidance/intelligent optimization/path planning分类
信息技术与安全科学引用本文复制引用
刘梦琪,刘增武,王勇..基于逃生算法的无人潜航器编队避障方法[J].数字海洋与水下攻防,2026,9(2):151-159,9.基金项目
国家自然科学基金"叶企孙"科学基金重点支持项目"低能耗欠驱动高重心无人水面航行器的运动稳定性机理与控制方法研究"(U2341217). （U2341217）
