AUV实时避障算法研究进展

郭银景; 鲍建康; 刘 琦; 屈衍玺; 吕文红

doi:10.11993/j.issn.2096-3920.2020.04.001

AUV实时避障算法研究进展

doi: 10.11993/j.issn.2096-3920.2020.04.001

1.
山东科技大学电子信息工程学院, 山东青岛, 266590
2.
青岛智海牧洋科技有限公司, 山东青岛, 266590
3.
山东科技大学电气与自动化工程学院, 山东青岛, 266590
4.
山东科技大学交通学院, 山东青岛, 266590

基金项目: 山东省重点研发计划(公益类专项)项目(2018GHY115022); 国家自然科学基金(61471224)

详细信息

作者简介:
郭银景(1966-), 男, 博士, 教授, 主要研究方向为无线通信、AUV导航与控制.

中图分类号: U674.941 TJ630.33
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- 被引次数: 0
出版历程
- 刊出日期: 2020-08-31

Research Progress of Real-Time Obstacle Avoidance Algorithms for Unmanned Undersea Vehicle: A Review

1.
College of Electronic Information Engineering, Shandong University of Science and Technology, Qingdao 266590, China
2.
Qingdao Intelligent Ocean Technology Co., Qingdao 266590, China
3.
College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, China
4.
College of Transportation, Shandong University of Science and Technology, Qingdao 266590, China

摘要

摘要: 针对目前在研究自主水下航行器(AUV)实时避障算法过程中出现的重点难点及研究趋势, 文中从动态障碍物、多约束与多目标以及海流干扰3方面分析了水下实时避障算法的研究难点, 然后从人工势场法、模糊逻辑法和智能仿生算法3个方面重点阐述水下实时避障算法的研究进展。对比3种避障算法的研究现状得知, 通过修正势场函数、引入AUV运动约束、考虑障碍物相对速度和复杂海流影响等, 使改进的人工势场法克服了陷阱问题、局部极小值和目标不可达等问题, 成为解决AUV实时避障问题的重点研究方向。在躲避动态障碍物方面, 多种避障算法融合将成为一种趋势; 在多约束与多目标问题中, 能耗问题尤为重要却很少被作为参数引入到避障算法中, 具有很大的研究潜力; 针对海流干扰问题, 多数避障算法仅考虑了水平方向的定常流或涡流, 因此考虑三维海流干扰也是未来水下实时避障算法的研究方向之一。
- 自主水下航行器 /
- 实时避障算法 /
- 人工势场 /
- 模糊逻辑 /
- 仿生
Abstract: Aiming at the difficulties and trends in the research of autonomous undersea vehicle(AUV) real-time obstacle avoidance algorithms, the difficulties in the research of underwater real-time obstacle avoidance algorithm are analyzed from three aspects of dynamic obstacles, multiple constraints and multiple objectives, and ocean current disturbance. Then, the research progress of underwater real-time obstacle avoidance algorithm is focused on the three aspects, i.e. artificial potential field method, fuzzy logic method, and intelligent bionic algorithm. By comparing the current researches on three kinds of obstacle avoidance algorithms, it is known that the improved artificial potential field method overcomes the problems of trap, local minimum, and goal unreachability, and becomes the key research direction to solve the real-time obstacle avoidance problem of unmanned undersea vehicle by modifying the potential field function, introducing the AUV motion constraint, considering the relative speed of obstacles and the influence of complex ocean current, etc. In the aspect of avoiding dynamic obstacles, the fusion of multiple obstacle avoidance algorithms will become a trend. As for the multi-constraint and multi-objective problem, energy consumption is particularly important but is rarely introduced into obstacle avoidance algorithm as a parameter, which has great research potential. For the ocean current disturbance, the majority of real-time obstacle avoidance algorithms only consider steady flow or eddy current in the horizontal direction, thus, consideration of the three-dimensional ocean current disturbance will also become one of the research directions of underwater real-time obstacle avoidance algorithm in the future
- autonomous undersea vehicle(AUV) /
- real-time obstacle avoidance algorithm /
- artificial potential field /
- fuzzy logic /
- bionic

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