自主水下航行器路径规划研究进展

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI:10.1145/3366194.3366280

Tingting Yao, Tao He, Wenlong Zhao, Abdou Yahouza M. Sani

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引用次数: 8

摘要

自主水下航行器(AUV)是海洋资源勘探和开发的重要工具。路径规划对水下机器人在海上的正确导航和避障具有重要作用。首先，根据不同的海洋环境条件，将水下航行器路径规划分为两种类型。然后，对全局路径规划和局部路径规划的相关算法进行了综述，并对相关算法的关键技术、发展现状和优缺点进行了梳理。最后，展望了复杂环境下水下航行器的发展方向。

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Review of Path Planning for Autonomous Underwater Vehicles

An autonomous underwater vehicle (AUV) is an important tool for the exploration and development of marine resources. Path planning plays an important role in the correct navigation and avoidance of obstacles by underwater robots in the sea. Firstly, according to different marine environmental conditions, AUV path planning is classified into two types. Then, the related algorithms of global path planning and local path planning are reviewed, and the key technologies, development status, advantages and disadvantages of related algorithms are combed. Finally, the development direction of the AUV in complex environment is prospected.

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Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence

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