王磊, 刘晶晶, 齐俊艳,等.基于改进人工势场法的AUV全局路径规划[J].河南理工大学学报（自然科学版）,2024,43(1):132-139.

WANG L, LIU J J, QI J Y, et al.A global path planning algorithm for AUV based on improved artificial potential field method[J].Journal of Henan Polytechnic University(Natural Science) ,2024,43(1):132-139.

基于改进人工势场法的AUV全局路径规划

王磊, 刘晶晶, 齐俊艳, 贺军义

河南理工大学 计算机科学与技术学院，河南 焦作 454000

摘要:目的 为了解决AUV（autonomous underwater vehicle）在传统人工势场法路径规划过程中存在的碰撞、目标不可达和局部极小值等问题，方法 提出一种基于改进人工势场法（improved artificial potential field，IAPF）的AUV全局路径规划算法。首先为解决引力过大导致的碰撞问题，引入作用阈限制目标点的吸引力；然后在斥力场添加距离修正因子修正斥力函数，防止目标点离障碍物过近时，由于斥力大于引力引起目标不可达现象，同时考虑到障碍物大小的不等性会影响斥力的作用范围，对障碍物的最小安全距离进行修改；最后在此基础上添加外力，利用外力和势场力的共同作用使AUV沿切线方向行驶，从而摆脱局部极小点或陷阱区域。结果仿真实验结果表明，本文算法能够规划出一条最优路径，与同类算法相比，本文算法运行时间短，成功率高。结论 本文提出的基于改进人工势场法的AUV全局路径规划算法，通过引入作用阈、距离修正因子、最小安全距离修正以及外力作用，有效解决了传统人工势场法在AUV路径规划中存在的碰撞、目标不可达和局部极小值等问题。

关键词:人工势场;作用阈;AUV;修正因子;路径规划

doi:doi：10.16186/j.cnki.1673-9787.2021090056

基金项目:国家自然科学基金资助项目（61872126）；河南省科技攻关计划项目（212102210092）

收稿日期:2021/09/15

修回日期:2022/05/06

出版日期:2024/01/25

A global path planning algorithm for AUV based on improved artificial potential field method

WANG Lei, LIU Jingjing, QI Junyan, HE Junyi

School of Computer Science and Technology，Henan Polytechnic University，Jiaozuo 454000，Henan，China

Abstract: Objective In order to solve the problems of collision，unreachable targets，and local minima in the traditional artificial potential field method for path planning of AUV （Autonomous Underwater Vehicle），Methods an AUV global path planning algorithm based on an improved artificial potential field method （IAPF）was proposed.Firstly，to address the collision issue caused by excessive gravity，a threshold limit was introduced to restrict the attraction of target points.Secondly，a distance correction factor was added to the repulsion field to modify the repulsion function，for preventing the target point from being too close to obstacles and causing the target to become unreachable due to repulsion greater than gravity.Additionally，considering that the unequal size of obstacles can affect the range of repulsion，the minimum safe distance to obstacles was modified.Finally，an external force was added to the model，utilizing the combined effect of the external force and potential field force to guide the AUV along the tangent direction，thus escaping from local minima or trap regions. Results Through simulation experiments，the algorithm proposed in this article was able to plan an optimal path，and compared to similar algorithms，it had a shorter algorithm runtime and higher success rate. Conclusion The AUV global path planning algorithm based on the improved artificial potential field method proposed in this article effectively solved the issues of collision，unreachable targets，and local minima in the traditional artificial potential field method for path planning of AUVs.By introducing thresholds，distance correction factors，minimum safe distance corrections，and external forces，this algorithm demonstrates improved performance in path planning for AUVs.

Key words:artificial potential field;action threshold;AUV;correction factor;path planning