CN103777639A - 运动障碍环境中uuv三维航路规划方法 - Google Patents

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CN103777639A
CN103777639A CN201410011297.1A CN201410011297A CN103777639A CN 103777639 A CN103777639 A CN 103777639A CN 201410011297 A CN201410011297 A CN 201410011297A CN 103777639 A CN103777639 A CN 103777639A
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uuv
cost function
point
dimensional
dyskinesia
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Harbin ship Intelligent Equipment Technology Co., Ltd.
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Harbin Engineering University
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Description

${f}_{1}=\frac{n*S}{L\left(\mathrm{ψ},\mathrm{θ}\right)}$

$g\left(h\right)=\left\{\begin{array}{cc}1& 0c\end{array}\right\$

${f}_{3}=\frac{1}{\sqrt{2\mathrm{π}}{\mathrm{σ}}_{1}{\mathrm{σ}}_{2}}{e}^{-\frac{{\left(\mathrm{θ}-\mathrm{α}\right)}^{2}}{2{{\mathrm{σ}}_{1}}^{2}}-\frac{{\left(\mathrm{ψ}-\mathrm{β}\right)}^{2}}{2{{\mathrm{σ}}_{2}}^{2}}}$

f=k1f1+k2f2-k3f3

UUV在前行方向上离障碍物越近，代价函数越大，反之代价函数越小。避碰固定障碍代价函数为：
${f}_{1}=\frac{n*S}{L\left(\mathrm{ψ},\mathrm{θ}\right)}---\left(1\right)$

UUV作业过程中会遇到运动障碍。假设，当前点Pi在候选点P′i+1方向延长线与运动障碍方向延长线的最近交互点为M，运动障碍前行延长线上的最近交互点为M′。h为M与M′点的距离。h越大，UUV越安全。从而有：
$g\left(h\right)=\left\{\begin{array}{cc}1& 0c\end{array}\right\---\left(2\right)$

${f}_{3}=\frac{1}{\sqrt{2\mathrm{π}}{\mathrm{σ}}_{1}{\mathrm{σ}}_{2}}{e}^{-\frac{{\left(\mathrm{θ}-\mathrm{α}\right)}^{2}}{2{{\mathrm{σ}}_{1}}^{2}}-\frac{{\left(\mathrm{ψ}-\mathrm{β}\right)}^{2}}{2{{\mathrm{σ}}_{2}}^{2}}}---\left(4\right)$

UUV运动障碍环境下三维航路规划总势场函数为各代价函数的叠加。从而，得到UUV航路规划总代价函数：
f=k1f1+k2f2-k3f3         (5)

Claims (5)

1.一种运动障碍环境中UUV三维航路规划方法，其特征在于：

2.根据权利要求1所述的运动障碍环境中UUV三维航路规划方法，其特征在于：步骤一中，避碰固定障碍代价函数为：
${f}_{1}=\frac{n*S}{L\left(\mathrm{ψ},\mathrm{θ}\right)}$

3.根据权利要求2所述的运动障碍环境中UUV三维航路规划方法，其特征在于：步骤一中，假设，当前点Pi在候选点P′i+1方向延长线与运动障碍方向延长线的最近交互点为M，运动障碍前行延长线上的最近交互点为M′，h为M与M′点的距离，则
$g\left(h\right)=\left\{\begin{array}{cc}1& 0c\end{array}\right\$

4.根据权利要求3所述的运动障碍环境中UUV三维航路规划方法，其特征在于：步骤二中，三维趋向目标代价函数为，
${f}_{3}=\frac{1}{\sqrt{2\mathrm{π}}{\mathrm{σ}}_{1}{\mathrm{σ}}_{2}}{e}^{-\frac{{\left(\mathrm{θ}-\mathrm{α}\right)}^{2}}{2{{\mathrm{σ}}_{1}}^{2}}-\frac{{\left(\mathrm{ψ}-\mathrm{β}\right)}^{2}}{2{{\mathrm{σ}}_{2}}^{2}}}$

5.根据权利要求4所述的运动障碍环境中UUV三维航路规划方法，其特征在于：步骤三中，三维航路规划代价函数为，
f=k1f1+k2f2-k3f3

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Cited By (16)

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Publication number Priority date Publication date Assignee Title
CN104210629A (zh) * 2014-09-28 2014-12-17 江苏华宏实业集团有限公司 一种水下路障躲避方法
CN104483975A (zh) * 2014-11-05 2015-04-01 哈尔滨工程大学 一种基于航路点的uuv转弯速度自适应调整方法
CN104571128A (zh) * 2014-12-26 2015-04-29 燕山大学 基于距离与视差信息的水下机器人避障方法
CN105204511A (zh) * 2015-10-13 2015-12-30 王红军 一种物体自主移动的决策方法
CN105549600A (zh) * 2016-02-05 2016-05-04 哈尔滨工程大学 一种基于虚拟膨化的运动障碍与uuv相向航行的规避方法
CN105607646A (zh) * 2016-02-05 2016-05-25 哈尔滨工程大学 一种障碍环境下有必经点的uuv航路规划方法
CN105629975A (zh) * 2016-02-05 2016-06-01 哈尔滨工程大学 一种基于虚拟膨化的uuv航行过程中的运动障碍的规避方法
CN105807769A (zh) * 2016-03-09 2016-07-27 哈尔滨工程大学 无人水下航行器ivfh避碰方法
CN105843234A (zh) * 2016-05-12 2016-08-10 哈尔滨工程大学 一种uuv对圆形障碍物几何绕行的二维航路规划方法
CN105929824A (zh) * 2016-05-12 2016-09-07 哈尔滨工程大学 一种基于几何绕行原理的uuv二维航路规划方法
CN106441303A (zh) * 2016-09-30 2017-02-22 哈尔滨工程大学 一种基于可搜索连续邻域a*算法的路径规划方法
CN106595663A (zh) * 2016-11-28 2017-04-26 四川航天系统工程研究所 结合搜索与优化的飞行器自主航迹规划方法
CN108319293A (zh) * 2018-01-17 2018-07-24 哈尔滨工程大学 一种基于lstm网络的uuv实时避碰规划方法
CN108871364A (zh) * 2018-06-28 2018-11-23 南京信息工程大学 一种基于结点算法的水下机器人路径规划方法
CN109062198A (zh) * 2018-06-07 2018-12-21 广东工业大学 一种船舶的航行控制方法、装置、设备及介质
WO2019149214A1 (zh) * 2018-02-05 2019-08-08 腾讯科技（深圳）有限公司 一种智能运动设备及其导航方法和存储介质

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Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104210629A (zh) * 2014-09-28 2014-12-17 江苏华宏实业集团有限公司 一种水下路障躲避方法
CN104483975A (zh) * 2014-11-05 2015-04-01 哈尔滨工程大学 一种基于航路点的uuv转弯速度自适应调整方法
CN104571128A (zh) * 2014-12-26 2015-04-29 燕山大学 基于距离与视差信息的水下机器人避障方法
CN104571128B (zh) * 2014-12-26 2017-06-20 燕山大学 基于距离与视差信息的水下机器人避障方法
CN105204511A (zh) * 2015-10-13 2015-12-30 王红军 一种物体自主移动的决策方法
CN105204511B (zh) * 2015-10-13 2018-01-09 王红军 一种物体自主移动的决策方法
CN105629975A (zh) * 2016-02-05 2016-06-01 哈尔滨工程大学 一种基于虚拟膨化的uuv航行过程中的运动障碍的规避方法
CN105607646B (zh) * 2016-02-05 2018-06-26 哈尔滨工程大学 一种障碍环境下有必经点的uuv航路规划方法
CN105629975B (zh) * 2016-02-05 2018-04-03 哈尔滨工程大学 一种基于虚拟膨化的uuv航行过程中的运动障碍的规避方法
CN105549600B (zh) * 2016-02-05 2018-03-02 哈尔滨工程大学 一种基于虚拟膨化的运动障碍与uuv相向航行的规避方法
CN105549600A (zh) * 2016-02-05 2016-05-04 哈尔滨工程大学 一种基于虚拟膨化的运动障碍与uuv相向航行的规避方法
CN105607646A (zh) * 2016-02-05 2016-05-25 哈尔滨工程大学 一种障碍环境下有必经点的uuv航路规划方法
CN105807769A (zh) * 2016-03-09 2016-07-27 哈尔滨工程大学 无人水下航行器ivfh避碰方法
CN105807769B (zh) * 2016-03-09 2018-09-28 哈尔滨工程大学 无人水下航行器ivfh避碰方法
CN105929824A (zh) * 2016-05-12 2016-09-07 哈尔滨工程大学 一种基于几何绕行原理的uuv二维航路规划方法
CN105843234A (zh) * 2016-05-12 2016-08-10 哈尔滨工程大学 一种uuv对圆形障碍物几何绕行的二维航路规划方法
CN105929824B (zh) * 2016-05-12 2018-10-26 哈尔滨工程大学 一种基于几何绕行原理的uuv二维航路规划方法
CN105843234B (zh) * 2016-05-12 2018-08-31 哈尔滨工程大学 一种uuv对圆形障碍物几何绕行的二维航路规划方法
CN106441303A (zh) * 2016-09-30 2017-02-22 哈尔滨工程大学 一种基于可搜索连续邻域a*算法的路径规划方法
CN106595663A (zh) * 2016-11-28 2017-04-26 四川航天系统工程研究所 结合搜索与优化的飞行器自主航迹规划方法
CN108319293A (zh) * 2018-01-17 2018-07-24 哈尔滨工程大学 一种基于lstm网络的uuv实时避碰规划方法
CN108319293B (zh) * 2018-01-17 2021-01-12 哈尔滨工程大学 一种基于lstm网络的uuv实时避碰规划方法
WO2019149214A1 (zh) * 2018-02-05 2019-08-08 腾讯科技（深圳）有限公司 一种智能运动设备及其导航方法和存储介质
US11247701B2 (en) 2018-02-05 2022-02-15 Tencent Technology (Shenzhen) Company Ltd Smart moving device, navigation method thereof, and storage medium
CN109062198A (zh) * 2018-06-07 2018-12-21 广东工业大学 一种船舶的航行控制方法、装置、设备及介质
CN109062198B (zh) * 2018-06-07 2021-10-01 广东工业大学 一种船舶的航行控制方法、装置、设备及介质
CN108871364A (zh) * 2018-06-28 2018-11-23 南京信息工程大学 一种基于结点算法的水下机器人路径规划方法

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