ISSN1006－7167CN31－1707/TＲESEAＲCHANDEXPLOＲATIONINLABOＲATOＲY第42卷第1期Vol．42No．12023年1月Jan．2023DOI:10．19927/j．cnki．syyt．2023．01．022基于改进人工势场的水下无人航行器路径规划仿真研究王莹莹1，周佳加1，赵杨2，邢文1(1．哈尔滨工程大学智能科学与工程学院，哈尔滨150001;2．中国船舶集团有限公司工程管理中心综合计划办公室，北京100097)摘要:为解决动静态障碍物环境下水下无人航行器避障与路径规划问题，提出一种改进人工势场算法。针对传统人工势场算法存在目标不可达和局部最小值问题，将水下无人航行器与期望目标之间的距离及障碍物之间的预计碰撞时间加入斥力势场函数，利用改进后的人工势场算法实现动静态障碍物环境下的避障与路径规划，保证水下无人航行器的航行安全。仿真结果表明，改进人工势场算法在两种环境下均可使水下无人航行器成功避障并到达目标点。通过仿真研究可提高学生独立开展工程问题研究的能力。关键词:水下无人航行器;路径规划;改进人工势场;避障中图分类号:TP391文献标志码:A文章编号:1006－7167(2023)01－0109－05ＲesearchonPathPlanningforUUVBasedonImprovedArtificialPotentialFieldWANGYingying1，ZHOUJiajia1，ZHAOYang2，XINGWen1(1．CollegeofIntelligentSystemsScienceandEngineering，HarbinEngineeringUniversity，Harbin150001，China;2．IntegratedPlanningOffice，EngineeringManagementCenterofChinaStateShipbuildingCorporationLimited，Beijing100097，China)Abstract:InordertosolvetheproblemofcollisionavoidanceandpathplanningfortheUUVunderdynamicandstaticobstacles，animprovedartificialpotentialfieldalgorithmisproposed．Aimingattheproblemsofunreachabletargetsandlocalminimaexistingintraditionalartificialpotentialfields，thedistancebetweenUUVandthedesiredtargetwhiletheexpectedcollisiontimebetweenthevehicleandobstaclesareaddedtotherepulsivepotentialfieldfunction．Animprovedartificialpotentialfieldmethodisusedtocompletethecollisionavoidanceandpathplanningforthecoexistenceofdynamicandstaticobstacles，sothatthenavigationsafetyoftheUUVisguaranteed．Thesimulationresultsverifythemissioncanbecompletedbytheproposedimprovedartificialpotentialfieldmethodunderdynamicandstaticobstacles．Thissimulationexperimenthaseff...
