【作者】 楼一超； 刘卫东； 鲜艳； 高立娥；

【Author】 LOU Yichao;LIU Weidong;XIAN Yan;GAO Li’e;School of Marine Science and Technology, Northwestern Polytechnical University;

【机构】 西北工业大学航海学院；

【摘要】 水下机器人的避障方法及其效果是水下机器人能否顺利工作的重要方面之一,人工势场法作为一种结构简单、实时性好的避障方法获得了广泛关注。本文针对水下机器人前视声呐避障问题,分析了引力势场与斥力势场的函数关系,建立了能克服两种特殊情况的人工势场法物理模型,并在此基础上进行了水下机器人的避障方法研究和设计,并通过仿真分别分析了人工势场法的避障效果以及水下机器人避障效果。仿真结果表明人工势场法能较好地进行避障工作,其生成路径平滑、避障效果较好,水下机器人避障方法效果达到预期,可以使水下机器人保持安全距离并顺利地避开障碍物到达终点,具有较好的实际应用价值。更多还原

【Abstract】 The obstacle avoidance method and its effect is one of the important aspects for the successful operation of underwater robot. Artificial potential field method, as a simple and real-time obstacle avoidance method, has been widely concerned. In this paper, the problem of obstacle avoidance for forward looking sonar of underwater robot is discussed, the functional relationship between the gravitational potential field and the repulsion potential field is analyzed, the physical model of artificial potential field method which can overcome two special cases is established. On this basis, the obstacle avoidance method of underwater robot is studied and designed. Through simulation, the obstacle avoidance effect of artificial potential field method and the operation effect of obstacle avoidance strategy of underwater robot are analyzed respectively. The simulation results show that the artificial potential field method can perform the obstacle avoidance work well, the generated path is smooth and the obstacle avoidance effect is good. Besides, the obstacle avoidance method of the underwater robot achieves the expected effect, which can make the underwater robot maintain a safe distance and reach the destination by avoiding obstacles smoothly, and has good practical application value更多还原