动态补偿的水下机器人路径规划

本文研究水下机器人在障碍位置未知条件下,进行路径规划的方法,使自治水下机器人以最短的行程距离,避开障碍,达到预定目标.针对变化的、复杂的海洋情况,本文采用动态与静态相结合、规划与控制相结合的手段,应用人工势场理论,引入距离误差做动态反馈补偿,实现全局规划控制.本文提出的这种适于自治水下机器人导航的动态路径规划-控制方法,可以解决障碍环境参数已知、未知的路径规划问题.仿真结果表明该方法具有较强的稳定性和适应性.

A path planning method for underwater robot under condition of unknown obstacle position is proposed tomake the autonomous robot avoid obstacles and get to destination with the shortest covering distance.In re-sponse to the changing and complicate sea state,this paper implements general planning and control by intro-ducing distance error as dynamic feedback compensation.This method proposed is adaptable to path planningproblems with enviorment parameters either known or unknown.simulatibn results show it has good stabilityand adaptability.