摘要
针对多约束条件下无人水下航行器(UUV)空间航迹规划问题,提出了结合安全曲面和威胁地图的规划方法,建立了水下安全航行曲面,将3D空间规划降为2D航向平面规划,以解决3D规划空间过大的问题。并对敌对威胁和地形威胁统一化处理,构建威胁地图,引入威胁代价和威胁程度启发因子,最后运用A*算法进行航迹搜索,以获得最优航迹。仿真结果显示,所提出的航迹规划算法简便、快速,生成的航迹能满足地形跟随、地形回避和威胁回避的需要。
A three-dimensional（3D） path planning approach on the basis of safe sail surface and threat map is proposed for a UUV in multi-constraint condition.A safe sail surface is constructed to predigest the 3D search space,reducing the 3D path planning to 2D path planning.Then,a threat map is established for unification of hostile threat and terrain threat,and a threat cost and threat level heuristic factor are introduced.In the end,the A＊ algorithm is applied to path search to obtain an optimum path.Simulation results illustrate that the proposed approach is simple and fast,and the generated path can meet the requirements of terrain following,terrain evading and threat evading.
出处
《鱼雷技术》
2011年第5期365-369,375,共6页
Torpedo Technology
基金
哈尔滨工程大学基础研究基金(HEU002040260755)
哈尔滨工程大学中央高校基础研究基金(HEUCF100412)
关键词
无人水下航行器
3D航迹规划
多约束
威胁地图
unmanned underwater vehicle（UUV）
three-dimensional path planning
multi-constraint
threat map
