本文阐述一种基于水下通信的应急避障系统结构，为了解决水下光通信容易受到干扰的问题，提出一种基于中继通信节点的水下声光通信架构，并通过资源调度来实现最佳通信效果。针对潜航器应急避障的问题，制定全局应急避障策略，根据不同要求规划不同的全局路径，提出基于DWA算法的局部避障策略，可以有效解决在出现动态障碍物情况下的应急避障问题。
This paper describes an emergency obstacle avoidance system structure based on underwater communication. In order to solve the problem that underwater optical communication is prone to interference, an underwater acousti-optic communication architecture based on relay communication nodes is proposed, and the optimal communication effect is achieved through resource scheduling. Aiming at the emergency obstacle avoidance problem of underwater vehicle, the global emergency obstacle avoidance strategy is formulated, and different global paths are planned according to different requirements. The local obstacle avoidance strategy based on DWA algorithm is proposed, which can effectively solve the emergency obstacle avoidance problem in the case of dynamic obstacles.
2024,46(16): 174-177 收稿日期：2024-02-21
DOI：10.3404/j.issn.1672-7649.2024.16.030
分类号：TN919.8
作者简介：晁松杰（1986 – ），男，硕士，讲师，研究方向为电子科学与技术
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