为了实现重于水型自治潜器（Heavier-Than-Water Autonomous Underwater Vehicle， AUV）在未知水下环境中的局部路径规划。首先根据AUV的运动方程和机翼升力特性，在Matlab中建立动力学模型。设计模糊控制器，以声呐对障碍物探测得到的距离和方位信息作为输入量，实现了AUV在水下障碍物环境中的路径规划。最后，为提高AUV的能量利用效率，用遗传算法对模糊控制器的隶属度函数进行优化，并通过仿真试验证明了优化后AUV在避障期间能源消耗更少，说明该路径规划方法具有实际应用价值。
In order to achieve the goal of local path planning of a Heavier-Than-Water AUV in unknown underwater environment. A matlab kinematic model of the AUV was built based on its equation of motion and lift characteristics. A fuzzy controller was designed that enables AUV to plan path in real time. The controller takes obstacles' distance and orientation obtained from the sonar as input to control the AUV. At last, genetic algorithm was used to optimize the membership function of the fuzzy controller for improving energy utilization. And simulation tests showed that AUV consumed less energy during obstacle avoidance stage after optimization, which proved that the path planning method has practical value.
2017,(): 76-80,117 收稿日期：2017-04-06
DOI：10.3404/j.issn.1672-7649.2017.12.016
分类号：TP242
基金项目：国家重大仪器研制资助项目（41427806）
作者简介：俞炅旻(1992-),男,硕士研究生,研究方向为水下航行器的运动控制和基于视觉的水下对接
参考文献：
[1] KHATIB O. Real time obstacle avoidance for manipulators and mobile robots[J]. International Journal of Robotics and Research, 1986, 5(1), 90-98.
[2] LI Ying, HONG Sheng, HUANG Jun, et al. The new environment model building of penetration mission based on the artificial potencial field approach[C]. Proc of 2012 IEEE International Muti-Disciplinay Conference on Congnitive Methods in Situation Awareness and Decision Support, 2012: 121-124.
[3] 陈卫东, 朱奇光. 基于模糊算法的移动机器人路径规划[J]. 电子学报, 2011, (04): 971-974, 980.
[4] 付宜利, 靳保, 王树国, 等. 未知环境下基于行为的机器人模糊路径规划方法[J]. 机械工程学报, 2006, (05): 120-125.
[5] 孙兵, 朱大奇, 杨元元. 基于粒子群优化的自治水下机器人模糊路径规划[J]. 高技术通讯, 2013, 12: 1284-1291.
[6] 杨敬辉, 洪炳镕, 朴松昊. 基于遗传模糊算法的机器人局部避障规划[J]. 哈尔滨工业大学学报, 2004, 07: 946-948.
[7] 颜翚, 葛彤, 王彪. 一种新型重于水的自治式潜水器及其先进性分析[J]. 上海交通大学学报, 2012, 08: 1173-1177.
[8] SARKAR M, NANDY S, K VADALI S. R, et al. Modelling and simulation of a robust energy effcient AUV controller[J]. Mathematics and Computers in Simulation, 2016, 121: 34-47.
[9] FOSSEN. guidance and control of ocean vehicles[M]. Norway, 1994.
[10] 施生达. 潜艇操纵性[M]. 北京: 国防工业出版社, 1995.
[11] 毛宇峰, 庞永杰, 李晔,等. 速度矢量坐标系下水下机器人动态避障方法[J]. 哈尔滨工程大学学报, 2010, 02: 159-164.
[12] 刘建成, 于华男, 徐玉如, 等. 水下机器人改进的S面控制方法[J]. 哈尔滨工程大学报, 2002, 23(1): 33-36.
[13] 孙增圻. 智能控制理论与技术[M]. 北京: 清华大学出版社, 1996.
