Dalian Ocean University,Navigation and and Ship Engineering College;Dalian Ocean University,Machinery and Power Engineering College;
[Purpose] In order to solve the problems of traditional artificial potential field method(APF) in underwater vehicle path planning, such as unreachable target, easy to collide with obstacles, and easy to fall into local extreme points, [Method] the distance influence factor is used to improve the gravity function to solve the problem that the underwater robot easily collides with obstacles when the distance from the target point is too far. The inaccessible target problem is solved by improving the repulsive potential field function to alleviate the rapid increase of repulsive force; the simulated annealing algorithm is used to set the virtual target and make the robot jump from the local extreme point. For the problem that the turning path is not smooth enough due to the large turning angle at important turning positions, the cubic B-spline algorithm is selected for adjustment, and the optimized algorithm makes the turning path smoother. [Result] The simulation results before and after the improvement show that the fusion improved artificial potential field method can design a conflict-free path for the robot to safely reach the target point. [Conclusion] The research results can provide some references for underwater vehicles to do inspection work.
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Basic Information:
DOI：10.13788/j.cnki.cbgc.2025.04.01
China Classification Code:TP242
Citation Information:
[1]姚艳杰,李一卓,衣正尧等.基于改进人工势场法的水下机器人路径规划[J].船舶工程,2025,47(04):1-10.DOI:10.13788/j.cnki.cbgc.2025.04.01.
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