针对水下无人航行器路径规划需要提前获得海图以得到全局障碍物信息，难以做到未知环境下实时规划路径的问题，提出一种对探测空间进行采样并判断采样点是否具有障碍，最终将探测到的障碍结果加权赋值给A*算法待扩展点的方法，实现了探测与路径规划同步进行，同时考虑到航行器的运动学约束，将A*算法的搜索域修正为圆域并且仅搜索在运动学约束下可达的区域，避免路径规划出现折线段。最终仿真结果表明，该方法在未知海域中，可以实现实时路径规划，规避由探测系统检测到的障碍物并最终抵达目标点，且运算消耗小，速度快，满足实时性要求。
For unmanned undersea vehicle path planning, the global obstacle information from the chart in advance is necessary, so it is difficult to achieve real-time path planning in the unknown environment. To solve this problem, a method for sampling the detection space and judging whether the sampling points have obstacles, and finally weighting the detected obstacle results to the A* algorithm points to be extended is proposed，which synchronizes detection and path planning. At the same time, considering the kinematic constraints of UUV, the search domain of the algorithm is corrected to a circular domain and only the reachable region under kinematic constraints is searched, which avoids the occurrence of a broken line segment in the path planning. The final simulation results show that the method can realize real-time path planning in the unknown sea area, avoid obstacles detected by the detection system in real time and reach the target point. The calculation consumes little, the speed is fast, and it meets the real-time requirements.
2022,44(2): 117-120 收稿日期：2021-05-08
DOI：10.3404/j.issn.1672-7649.2022.02.021
分类号：TP13
作者简介：赵旭(1992-)，男，硕士，工程师，主要从事水下航行器控制与决策技术研究
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