面向水下三维空间约束的AUV人工势场避障算法

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中图分类号：TP301.6；U675.73 文献标志码：A 文章编号：1001-3695（2025）10-021-3061-09

doi：10.19734/j. issn.1001-3695.2025.02.0047

Obstacle avoidance algorithm based on artificial potential field for AUV in constrained underwater 3D space

Wu Jiajun 1，2 ，Zhang Meiyan²†，Xu Su’an1，Fu Shudan² （1.Colegeofal&lUs;fl Zhejiang University ofWaterResources& ElectricPower，Hangzhou 31oo18，China）

Abstract：Tosolve the problemthatautonomous underwatervehicles strugle toavoidrandomly movingobstacles under hreedimensionaloceancurrent disturbances，this paper proposedanimprovedartificial potentialfieldmethod.Thismethodextended thetraditional2Dartificialpotentialfieldto3DspacebytransformingbetweenCartesianandsphericalcoordinatesystems.It introducedasafetydistancemechanismandadjustablefactors tooptimizethepotentialfieldcomputation，makingitsuitablefor obstacleavoidancepath plannng indynamicenvironments.ItestablishedanoceancurrentmodelandanAUVdynamicmodel tosimulate theactualtrajectoriesoftheAUVundercurrentdisturbances.Simulationresultsshowthat，underidentical parameter conditions，the improved algorithm increases the obstacle avoidance success rate by 80% compared with traditional methods.Italso demonstratesgood performanceunder various parameter combinations.Compared withconventional algorithms，the improved method exhibitsstronger adaptabilityand robustnessinenvironments with moving obstacles.

Key words：artificial potential field（APF）；3Dobstacle avoidancepath planning；autonomousunderwatervehicle（AUV）; dynamic model

0 引言

自主水下航行器（AUV）在军事与民用领域都得到广泛的应用，成为海洋开发勘探的关键工具。（剩余14882字）