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7、/I????`?J?? ￠，sHm?ef?à? fde。?ê：?；?9； ?；?f； f萬方數(shù)據(jù)?? ??"ABSTRACTPathplanni
8、ngisthekeytechniqueofintelligentnavigationforunderwatervehicle.Lookingforasafeandfastnavigationpathintheoceanwithbothdynamicandstaticobstaclesisthepreconditionforunderwatervehicleoperation.Inordertoplanarouteofunderwatervehicleinthree-dimensionalspaceenvironmentofoceanmoreaccurate,thestudy
9、isdividedintothreeparts.Firstly,tosimulatethe3Doceanenvironment,divideunderwatervehiclepathplanningproblemintostaticglobalpathplanninganddynamicreal-timeobstacleavoidance.Thenintheglobalpathplanning,antcolonyalgorithmisusedtosolvegridpathinsmallgridspace,andQPSOisusedtoplanpathinlargeareao
10、fcomplexoceanenvironment.Finally,toestimatethedynamicobstaclemotionusingKalmanfiltering,andtorepulseawayfromtheobstaclesisbasedontherelativemotionbetweenunderwatervehicleandobstacles.Thearticleinvestigatesmainworkasfollows:Bytheuseofwaterdepthdatainelectronicchart,theunderwater3Denvironmen
11、tmodelofthepathplanningresearchareaisestablished.Extracteddiscretewaterdepthdatapointsfrom2Dvectorelectronicchart,andoriginalwaterdepthdatapointsDelaunaytriangulationnetworkmodelisestablished.AmidpointinterpolationmodelofDelaunaytriangulationisestablishedusingrandommidpointdisplacementmeth
12、odbasedonfractalBrownianmotion.Triangularinsideinterpolationmethodisputforwardtolookupinterpolationpointfast.ThemethodisusedtochangethedispersedDelaunaytriangulationmodeltoregulargriddata.Improvedfractalinterpolationalgorithmisusedtochangethegriddatageneratedthree-dimensionalmodelonunderse
13、a.Antcolonyalgorithmisusedtoglobalpathplanninginsubmarinegridmodelspace.Afterintroducingthebasicprincipleofantcolonyalgorithm,gridmarineenvironmentmodelwhichsuitablefortheantcolonyalgorithmtosolvethepathplanningproblemisestablished.Accordingtothewaterdepthdata
