【摘要】 航路规划指在有障碍物的环境中,为无人平台规划出无碰撞的最优路径。以水下定位为任务的航路规划为水下无人平台规划出高定位精度指标的最优路径,对于提高水下无人平台的工作效率至关重要。传统的水下无人平台航路规划主要基于人工势场法、蚁群法、遗传算法等,在这些算法中主要考虑的是避障问题,而没有充分考虑载荷任务,因此任务执行效率低。特别是对于水下定位任务,由于定位精度受到航路影响较大,因此需要对定位精度进行优化。针对这一问题,结合人工势场法与定位精度,提出了一种定位精度优化驱动的水下无人平台航路规划方法,实现了对避障能力与定位任务能力的兼顾,提高了基于水下无人平台的定位精度。更多还原

【Abstract】 Path planning provides the optimal collision free path for unmanned platform in the environment with obstacles. The path planning for underwater positioning gives the optimal path with the highest positioning accuracy,which is very important to improve the work efficiency of the unmanned underwater platform. The traditional path planning of unmanned underwater platform is mainly based on artificial potential field method,ant colony method,genetic algorithm,etc. In these algorithms,the obstacle avoidance problem is mainly considered,but the load task is not fully considered,so the task execution efficiency is low. Especially for underwater positioning tasks,since the positioning accuracy is greatly affected by the route,it is necessary to optimize the positioning accuracy. To solve this problem,combining the artificial potential field method and the localization precision analysis,this paper proposes an unmanned underwater platform path planning method driven by localization precision optimization,which realizes the consideration of both the obstacle avoidance ability and the localization task ability.更多还原