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基于数字海图的自主水下机器人路径规划研究
Alternative TitlePath Planning of AUV Based on Digital Charts
张禹; 徐红丽; 韦茵; 封锡盛
Department水下机器人研究室
Source Publication机器人
ISSN1002-0446
2006
Volume28Issue:3Pages:321-325
Indexed ByEI ; CSCD
EI Accession number2006239926621
CSCD IDCSCD:2454002
Contribution Rank2
Funding Organization国家自然科学基金资助项目(F030605);;辽宁省自然基金资助项目(20041025)
Keyword自主水下机器人 路径规划 人工势场法 数字海图
Abstract为了解决远程自主水下机器人(LAUV)路径规划问题,提出一种基于数字海图的路径规划算法.该算法对传统人工势场法进行了有效改进,克服了传统人工势场法固有的缺点和不足,可以用于LAUV离线和在线路径规划.其有效性已在半物理实时仿真平台上得到了验证.
Other AbstractTo solve the problem of path planning of LAUV(Long-distance Autonomous Underwater Vehicle),a path planning algorithm based on digital charts is presented.The algorithm overcomes the drawbacks of traditional artificial field methods,and is used to on-line and off-line path planning of LAUV.Its effectiveness is verified by simulation experiments on the semi-physical simulation platform.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3592
Collection水下机器人研究室
Corresponding Author张禹
Affiliation1.沈阳工业大学机械工程学院
2.中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
张禹,徐红丽,韦茵,等. 基于数字海图的自主水下机器人路径规划研究[J]. 机器人,2006,28(3):321-325.
APA 张禹,徐红丽,韦茵,&封锡盛.(2006).基于数字海图的自主水下机器人路径规划研究.机器人,28(3),321-325.
MLA 张禹,et al."基于数字海图的自主水下机器人路径规划研究".机器人 28.3(2006):321-325.
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