AUV的路径规划算法是AUV最为核心的技术之一。本文在分析AUV自主巡航技术背景的基础上，综述针对海底环境的全局路径规划环境建模方法的研究现状，并比较栅格法、拓扑法和可视图法的优缺点；讨论了国内外学者在探索海流对AUV全局路径规划环境建模影响方面的研究进展。基于对AUV海流影响研究现状，展望了该领域的发展方向，并给出了2种考虑洋流影响的AUV全局路径规划环境建模算法。
AUV path planning algorithm is one of the core technologies of AUV. Based on the analysis of the background of AUV autonomous cruise technology, the paper summarizes the research status of the global path planning environment modeling method for the seabed environment, and compares the advantages and disadvantages of the grid method, topology method and viewable method; Scholars' research progress in exploring the impact of ocean currents on AUV global path planning environment modeling. Based on the current status of research on the impact of AUV currents, the paper looks forward to the direction of development in this field, and gives two AUV global path planning environment modeling algorithms that consider the impact of ocean currents.
2021,43(9): 12-18 收稿日期：2020-11-18
DOI：10.3404/j.issn.1672-7649.2021.09.003
分类号：TP24
基金项目：山东省重点研发计划(公益类专项)项目(2018GHY115022)，国家自然科学基金资助项目(61471224)
作者简介：郭银景(1996-)，男，博士，教授，研究方向为AUV导航与控制、无线通信
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