关键词: 自主水下潜航器, 人工势场法, 海流, 目标不可达, 局部极小值

Abstract:

First of all, the concept of artificial potential field method is briefly introduced, the models of gravitation and repulsion potential field of artificial potential field method are analyzed, and the problems of complex underwater environment, inaccessibility of target and local minimum value existing in the application of artificial potential field method are pointed out. Then, the research status of the complex underwater environment problem is described from two aspects of considering complex obstacles and current factors, and the potential field function is analyzed. The research status of the problem of the inaccessibility of target is described from two aspects：redefining the number or modifying the repulsion potential field function. The research status of the local minimum problem is described from setting the virtual guide point, and then the research status of several combined obstacle avoidance algorithms is described. Finally, the more perfect potential field function model is constructed, the influence of complex current factors is considered, and the algorithm is integrated. Finally, the future development direction of artificial potential field method is prospected.

Key words: autonomous underwater vehicle, artificial potential field method, ocean current, inaccessibility of target, local minimum