一种用于水下无人航行器的局部避碰路径规划方法研究

Research on the Method of Local Collision Avoidance Path Planning for Unmanned Underwater Vehicle

摘要:

研究水下无人航行器(UUV)的局部自动避碰路径规划，对人工势场法和速度障碍法进行改进， 提出一种在三维空间重新分配斥力的方法，联合应用人工势场法和速度障碍法，建立人工模拟势场求得合力， 通过合力的方向指引水下无人航行器航行，完成对动态静态障碍物的避让。仿真结果表明：该方法能有效在动静态混合环境下完成避碰，且平滑处理后的路径更符合水下无人航行器实际航行避碰操纵控制要求。

关键词:水下无人航行器(UUV);自动避碰;速度障碍法;人工势场法

Abstract:

By studying the local collision avoidance path planning of underwater unmanned vehicle，and improving the artifical potential field method and the speed obstacle method，a method to redistribute the repulsive force in three-dimensional space is proposed，which combines the artifical potential field method and the speed obstacle method. The artifical simulation potential field is established to obtain the resultant force，and the underwater unmanned vehicle is guided through the direction of the resultant force to complete the avoidance of dynamic and static obstacles. The simulation results show that this method can effectively complete collision avoidance in a mixed dynamic and static environment，and the smoothed path is more suitable to the actual navigation and collision avoidance requirements of unmanned underwater vehicles.

Key words:unmanned underwater vehicle(UUV); automatic collsion avoidance; speed obstacle method; artificial potential field method