一种AUV能量优化路径规划方法及装置
By combining the bidirectional RRT* algorithm and the artificial potential field method in AUV path planning, and using flow field information to optimize sampling probability and node position, the blindness and energy consumption problems of AUV path planning in complex marine environments are solved, and more efficient path generation is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- INST OF ACOUSTICS CHINESE ACAD OF SCI
- Filing Date
- 2026-01-12
- Publication Date
- 2026-07-17
AI Technical Summary
Existing AUV path planning algorithms suffer from problems such as high search blindness, high energy consumption, and slow convergence speed in complex marine environments. In particular, they fail to effectively utilize flow field information for energy-saving route planning in dynamic flow fields.
A bidirectional RRT* algorithm combined with an artificial potential field method is adopted to correct the sampling probability distribution through flow field information, introduce an adaptive flow field optimization mechanism, optimize node positions, and comprehensively consider path length and energy consumption to achieve path planning.
It improves the computational and energy efficiency of path planning, generates shorter, lower-energy routes, and adapts to dynamic flow field changes in complex marine environments.
Smart Images
Figure CN121916906B_ABST