一种基于导航误差空间的无人水下航行器路径规划方法

无人水下航行器(UUV)的传统路径规划方法常忽略对路径安全有重要影响的导航误差约束。针对此问题，将导航误差引入环境模型中，提出一种基于导航误差空间(NES)的全局路径规划方法。NES综合自身位置、导航误差和环境信息，将随机导航误差转化为有确定代价的约束条件。提出符合实际导航特点的导航误差传递模型，并采用圆概率偏差（CEP）评估导航精度。目标代价同时考虑了路径长度和航行安全性等因素。运用改进A^*算法进行路径搜索，获得最优路径。数字海洋环境仿真实验表明，提出的规划算法简便、快速，可有效降低路径的安全风险。

A Novel Method of UUV Path Planning Based on Navigation Error Space

The traditional path planning of unmanned underwater vehicle (UUV) frequently ignores the navigation errors which have significant impact on the path safety. To solve the problem, a method of global path planning based on navigation error space (NES) is proposed, which introduces the navigation error into environment model. NES is built, including position, navigation error and environmental information, which translates the stochastic navigation error into deterministic constrains. The error propagation model is applied, and CEP is used to evaluate the positioning accuracy. The path length and sail safety are considered in the objective cost function. An improved A^* based algorithm is applied for searching the optimal path. Simulation experiment of marine environment show that the proposed approach is simple and fast, and path risk is decreased efficiently.