基于人工矢量场的AUV自主回收路径规划

针对自主水下航行器（AUV）水下自主回收过程中的路径规划问题,采用人工矢量场法规划回收路径。将回收过程划分为回坞导引阶段和入坞阶段,其中回坞导引阶段以入坞预备点为目标点,使用传统的人工矢量场法为AUV规划出一条无障碍路径;而入坞阶段则采用模糊变系数矢量场法,定义回收入口处的3个虚拟目标点,将AUV到回收中轴线的距离作为输入,通过模糊规则调整虚拟目标点的引力系数,使人工引力场的梯度方向指向回收入口,AUV沿光滑的入坞路径以期望的姿态驶进回收入口。仿真结果证明了该路径规划方法的有效性。

A Path Planning Method Based on Artificial Vector Field for Autonomous Recovery of AUV

To solve the path planning problem of autonomous underwater vehicle（AUV） in the process of underwater autonomous recovery,an artificial vector field method is adopted.The whole autonomous recovery process is divided into the homing guidance stage and the docking stage.In the homing guidance stage,the preparatory point for docking is taken as the goal,and an obstacle-free path is planned for AUV by the artificial vector field method.In the docking stage,the three virtual goal points at the recovery entrance of the dock are defined with a fuzzy variable-coefficient vector field method.Taking the distance between dock axis and AUV as the input,the coefficients of vector field are adjusted by a fuzzy control method,and the gradient direction of artificial attraction force field is pointed to the entrance of dock by calculating the attraction force coefficients of the virtual target points by fuzzy rules.Hence,AUV can dock into the recov-ery entrance along the smooth path in the desired posture.Simulation results verify the effectiveness of the presented method.