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探讨了当无人水下航行器的任务环境地图较大,且存在一定障碍物时,可采用分层路径规划并依据航路序列顺序跟踪控制的方法来解决该问题。上层规划可以在忽略障碍以及一些环境信息的情况下近似为旅行商(TSP)问题进行求解以获得任务路径点的最优序列,下层规划则对上层生成的最优序列中两目标点之间采用A*算法来进行局部规划,避开障碍物,然后,无人水下航行器根据路径规划算法生成的航路序列顺序跟踪航路点。仿真实验表明,该双层规划方法能较好地实现在全局环境下的任务目标点最优排序并能实现在局部环境下实时路径生成及障碍规避,并分析了不同栅格大小对路径跟踪的影响。
When unmanned underwater vehicle’s mission environment map is large and there are some obstacles, it can be solved by using hierarchical route planning and tracking control according to route sequence sequence. The upper-level programming can approximate the TSP problem by ignoring the obstacles and some environmental information to obtain the optimal sequence of the task path points. The lower-level programming adopts the optimal sequence between the two target points in the upper layer A * algorithm for local planning to avoid obstructions, and then, unmanned underwater vehicle tracks the waypoint in sequence according to the route sequence generated by the path planning algorithm. Simulation results show that the proposed bi-level programming method can achieve the optimal ranking of mission targets in the global environment and can generate real-time routes and avoid obstacles in a local environment. The analysis of different grid sizes for path tracking influences.