摘要
自主水下航行器(AUV)因其隐蔽性、智能性、使命重构性等特点在海洋领域运用日益广泛。作为航行器自主导航的重要组成部分,路径规划技术是衡量航行器智能化水平的关键所在。论文根据当前自主水下航行器的发展应用状况,整理了环境建模方法,阐述了各类路径规划算法的原理应用及改进方向,并在此基础上,对自主水下航行器的路径规划技术做出了展望。
Autonomous underwater vehicle(AUV)is increasingly used in the marine field due to their stealth,intelligence,and mission reconfigurability.As an important part of autonomous navigation of the AUV,path planning technology is the key to measuring the intelligence level of the AUV.According to the current development and application of the AUV,this paper organizes the environmental modeling methods,and elucidates the principle application and improvement direction of various traditional plan⁃ning algorithms and intelligent planning algorithms.Prospects are made for the path planning technology of the AUV.
作者
周帅
王征
杨洋
尹洋
ZHOU Shuai;WANG Zheng;YANG Yang;YIN Yang(School of Electrical Engineering,Naval University of Engineering,Wuhan 430033)
出处
《舰船电子工程》
2023年第3期1-6,共6页
Ship Electronic Engineering
基金
国家自然科学基金项目(编号:42122025,41974005)资助。
关键词
自主水下航行器
环境建模
路径规划
深度强化学习
autonomous underwater vehicle
environment modeling
path planning
deep reinforcement learning
