【摘要】 研究AUV在三维海底地形环境中的路径规划问题。针对三维地形中路径的不同特点 ,将路径分为 3种类型。设计了优化路径的遗传算法实现方案 ,所提出的惩罚函数及启发性知识的使用 ,使算法能灵活的得到具有不同特点的最优路径。仿真实验表明了该算法的可行性与可靠性 ,对AUV的安全航行具有重要的理论意义及应用参考价值更多还原

【Abstract】 The path-planning algorithm of AUV in 3D seabed environment is stud ied. For 3D environment, the optimal paths are classified into three differen t types. The optimal paths of each type are obtained flexibly by using genetic a lgorithm, especially the incorporating of problem-specific knowledge and penalt y function. Simulation results show the feasibility and reliability of the path - planning algorithm, which has considerable value on the safe navigation of AUV i n seabed environment.更多还原