针对水下潜航器的特点和实际需求，设计潜航器安全隐蔽航路规划模型。首先对水下航路规划的影响因素集进行划分，结合水下潜航器特点，通过改进信息素更新机制及启发因子的设计，建立基于蚁群算法的潜航器全局航路规划模型；其次考虑敌我距离变化量、我方位置与目标点的距离、我方声呐盲区、敌我距离最小量作为代价函数的4个因数，建立单目标动态威胁的局部航路规划；最后通过仿真得到全局规划路径和局部避碰路径结果，说明该方法在水下潜航器航路规划具有实际应用价值。
According to the characteristics and actual needs of underwater submersibles, the submarine safe concealed route planning model is designed. Firstly, the influencing factors of underwater route planning are divided, and the characteristics of underwater submersible are combined. By improving the pheromone updating mechanism and the design of heuristic factors, the global route planning model of submersible based on ant colony algorithm is established. Secondly, the distance between the enemy and the enemy is considered. The amount, the distance between my current position and the target point, the four factors of my sonar blind zone and the minimum distance between the enemy and the enemy as a function of cost, establish a local route planning for single-target dynamic threat. Finally, the global planning path and the local collision avoidance path result are obtained by simulation, which shows that the method has practical application value in underwater submersible route planning.
2019,41(7): 45-48,144 收稿日期：2019-03-08
DOI：10.3404/j.issn.1672-7649.2019.07.009
分类号：U675.4
作者简介：单玉浩(1991-),男,博士研究生,研究方向为载运工具运用工程
参考文献：
[1] 朱大奇, 颜明重. 移动机器人路径规划技术综述[J]. 控制与决策, 2010, 25(7):961-967
[2] 王奎民. 水下潜器的航路规划技术综述[J]. 智能系统学报, 2014, 9(6):653-658
[3] Athina N. BRINTAKI, Ioannis K. NIKOLOS. Coordinated UAV Path PlanningUsing Differential Evolution[J]. Operational Research. An International Journal. Vol.5, No.3(2005), pp.487-502.
[4] Hai-bin DUAN, Ya-xiang YU, Xiang-yin ZHANG, et al. Three-dimension path planning for UCAV using hybrid meta-heuristicACO-DE algorithm[J]. Simulation Modelling Practice and Theory, 2010, 18:1104-1115
[5] Han-lin NIU, Yu LU, SAVVARIS A, et al. Efficient path planning algorithms for unmanned surface vehicle[J]. IFAC-Papers Online, 2016, 49-23:121-126
[6] DORIGO M, STÜTZLE T. Ant colony optimization:overview and recent advances[J]. Technical Report TR/IRIDIA/2009-013, IRIDIA, Université Libre de Bruxelles, Brussels, Belgium, May 2009.
[7] 孙涛, 谢晓方, 乔勇军. 基于二维自由空间蚁群算法的反舰导弹航路规划仿真[J]. 系统仿真学报, 2008, 20(13):3586-3592
[8] 王沛栋, 冯祖洪, 黄新. 一种改进的机器人路径规划蚁群算法[J]. 机器人, 2008, 30(6):555-560
[9] 俞炅, 旻吴, 超赵敏, 等. 重于水型AUV模糊路径规划与优化[J]. 舰船科学技术, 2017, 39(12):76-80
[10] 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
[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(2):159-164
