研究了水下滑翔机在单个运动周期下躲避障碍物的路径规划问题，针对水下滑翔机运动特点，采用改进的人工势场法，规划出避障路径。首先，对传统的人工势场法进行改进，以克服局部极值与目标不可达问题，并引入速度势场函数，将静态势场转变为动态势场；然后，将水下滑翔机的运动特性及约束考虑进来，提出障碍物影响半径确定方法；之后，分析了定常海流对路径规划的影响。最后，以HUST-2号水下滑翔机为例在不同情况下进行仿真试验。结果表明，所用方法能使水下滑翔机成功避开水中静态与动态障碍物。
The problem of path planning for underwater glider avoiding obstacles in a single cycle is studied. An improved artificial potential field method is applied to generate an obstacle-avoiding path according to the motion characteristics of underwater glider. Firstly, to overcome the local minimum problem and destination unreachable problem, the traditional artificial potential field method is improved, and the velocity potential field function is introduced to transform the static potential field into dynamic potential field. Secondly, in terms of the motion characteristics and constraints of underwater glider, the method of determining the obstacle's influence radius is proposed. Subsequently, the constant force of current is added and its influence on path planning is analyzed. Finally, taking the underwater glider named HUST-2 as an example, simulation tests of path planning for underwater glider are conducted. The simulation results indicate that the underwater glider can avoid the static and dynamic obstacles by using the proposed method.
2019,41(4): 89-93 收稿日期：2018-04-17
DOI：10.3404/j.issn.1672-7649.2019.04.017
分类号：U675
作者简介：李沛伦(1994-),男,硕士研究生,研究方向为水下滑翔机路径规划
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