摘要
针对水下传感器数据信息采集使命任务，本文对多自主水下航行器（Multiple Autonomous underwater Vehicles／MAuV）系统路径规划方法进行了研究，提出了一种核心为多目标路径规划（multiple objective path planning／MOPP）模型的路径规划方法。该方法具体包括3种不同的基本行为、基本行为对应的行为目标函数和行为融合全局目标函数。建立与3种基本行为对应的行为目标函数，并将决策空间离散化，进而建立全局目标函数建立过程。最后，在不同水下环境进行仿真计算，结果表明该方法可以满足路径规划方法对水下环境的适应性。
For the mission of underwater sensor data acquisition, this paper studies the path planning methoa tor MAUV and presents a path planning strategy including three different basic behaviors, the corresponding behav- ioral objective functions and the global objective function of behavioral fusion based on multiple objective path- planning （MOPP） model. Finally, the path-planning method is simulated in the different underwater environ- ment and its ultimate results show that the strategy can meet the requirements for underwater sensor data acquisi- tion task.
作者
蒋龙杰
张志正
张永峰
JIANG-Long jie;ZHANG Zhi-zheng;ZHANG Yong-feng(The 27th Research Institute of China Electronics Technology Group Corporation, Zhengzhou 450047, Chin)
出处
《电光系统》
2017年第4期48-55,共8页
Electronic and Electro-optical Systems
