基于改进A*算法的UUV冰下避障航迹规划算法

Path Planning Algorithm for UUV Obstacle Avoidance Under Ice Based on Improved A* Algorithm

关键词:  航迹规划  A*搜索算法  UUV  避障  海冰

Key words:  Path planning  A* search algorithm  UUV  Obstacle avoidance  Sea ice

摘要:

针对冰下避障航迹规划问题，提出了一种基于改进A*算法的三维冰下避障航迹规划算法。不同于传统的A*航迹规划算法，该算法结合了人工势场航迹规划算法的思想，将水下地形碰撞约束、海冰碰撞约束以及UUV巡航高度约束重新编排。算法分析表明，该避障航迹规划算法能够有效增强UUV冰下避障能力与定深巡航高度控制能力。基于改进的A*冰下避障航迹规划算法，给出了上述约束的设计方法并进行了仿真验证。仿真结果表明，基于上述约束的航迹规划算法具有良好的避障能力、巡航高度控制能力以及航行距离控制能力。

Abstract:

Aiming at the problem of path planning for obstacle avoidance under ice, a three-dimensional path planning algorithm for obstacle avoidance under ice based on improved A* algorithm is proposed. Different from the traditional A* path planning algorithm, this algorithm combines the idea of artificial potential field path planning algorithm, and rearranges the underwater terrain collision constraint, sea ice collision constraint and UUV cruise height constraint. Algorithm analysis shows that the obstacle avoidance path planning algorithm can effectively enhance the ability of UUV to avoid obstacles under ice and the control ability of fixed depth cruise altitude. Based on the improved A* path planning algorithm, the design method of the above constraints is given and the simulation experiment is carried out. The test results show that the path cost-effective method based on the above constraints has good obstacle avoidance ability, cruise height control ability and distance control ability.