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基于改进人工势场的无人艇动态路径规划仿真（英文）.docx

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基于改进人工势场的无人艇动态路径规划仿真（英文） Abstract Inrecentyears,unmannedboatshavebeenwidelyusedinmarinesurveying,marineexploration,andmarinedisastermonitoring.However,thechallengeofdynamicpathplanningremainsasignificantissueinthedevelopmentofunmannedboats.Thispaperproposesanimprovedartificialpotentialfieldmethodfordynamicpathplanning.Themethodincludestheconstructionofanobstacleavoidancemodel,pathplanningrules,andsimulationexperiments.Throughsimulationexperiments,theproposedmethodisshowntoimproveefficiencyandstabilitycomparedtotraditionalmethods.Theapplicationofthemethodholdsgreatpotentialinunmannedboatcontrolandnavigation. Keywords:unmannedboats,dynamicpathplanning,artificialpotentialfieldmethod,obstacleavoidancemodel,simulationexperiments Introduction Underthepressureofincreasingmarineexplorationanddiscovery,unmannedboatshavebecomeamoreefficientandeconomicalsolutionformarinesurveysanddisastermonitoring.Withtherapidadvancesintechnology,unmannedboatsarebeingenhancedwithbettercontrolandnavigationsystems,furtherincreasingtheirreliabilityandusability.However,thechallengeofdynamicpathplanningremainsasignificantissue. Dynamicpathplanningisanessentialaspectofthesafeandefficientoperationofunmannedboats.Pathplanningalgorithmsbasedonartificialpotentialfields(APFs)havebeenwidelyusedinunmannedboatsbecauseoftheirsimplicityandefficiency.However,traditionalAPFmethodsfaceaproblemoflowstabilitywhentheboatnavigatesincomplexanddynamicenvironments,suchasmarinedisasters. Toaddressthisissue,animprovedartificialpotentialfield(IAPF)methodfordynamicpathplanninghasbeenproposed.Thismethodincludestheconstructionofanobstacleavoidancemodel,pathplanningrules,andsimulationexperiments.Theobstacleavoidancemodelisbasedonsonarandcameradataobtainedfromunmannedboats.Pathplanningrulesincorporatetheeffectsofobstacles,theboat'sspeed,andthesurroundingenvironment.Simulationexperimentsareusedtoanalyzetheefficiencyandstabilityoftheproposedmethod. ObstacleAvoidanceModel Theobstacleavoidancemodelisconstructedusingacombinationof