基于复杂约束条件的欠驱动AUV三维路径规划

为解决欠驱动自主水下航行器（AUV）在复杂水域下的三维路径规划和避碰问题，结合欠驱动的运动特性与自身约束条件，提出一种改进的蚁群结合3次B样条曲线拟合的算法，模拟现实海域环境信息进行水下空间环境建模。针对传统蚁群算法规划出的全局路径转角大、曲折多所造成的欠驱动AUV舵轮使用寿命低的问题，采用垂直面安全域设置的方法，设计基于低崎岖度的适应度函数结合路径长度与平缓度的双边评价体系规划出全局路径。采用3次B样条曲线，基于原型值点及目标点速度矢量约束拟合出一条曲率连续、无碰撞的优化路径。仿真结果表明，在保证收敛速度和全局搜索能力的前提下，所规划的路径合理，满足欠驱动AUV运动条件。

3D Path Planning of Underactuated AUV Based on Complex Constraints

An improved ant colony algorithm based on third-order B-spline curve fitting is proposed for the 3-D path planning and collision avoidance of underactuated AUV in complex waters，in which the underactuated motion characteristics and vehicle constraints are considered. An underwater space environment is modeled by simulating the real sea environment complexity. For the short service life issue of the underactuated AUV steering wheel，which is caused by large angle of turn and zigzagging route coming from the global path planned by original ant colony algorithm，a global path is planned by setting a vertical safety zone and redesigning the fitness function and evaluation function based on the factors of short path length and high path smoothness.TAn optimized path is fitted by using B-spline curve. And the continuous and safe path trajectory satisfies the velocity vector constraint of goal point. The simulated results show that the planned path is feasible on the precondition of guaranteeing the high convergence speed and global search capability.