摘要： 针对自治水下机器人(AUV)所处的真实海洋环境，通过分析长距离航行时AUV局部规划必须考虑的各种因素和可能产生的影响，设计一种局部规划器的结构，提出基于模糊逻辑的解决方案。该方法能实时综合考虑机器人的各种状态、其所处的海洋环境及任务目标情况，并根据三者间的关系得出速度折扣因子。实验表明，该方法能有效处理海洋环境下AUV大范围长距离航行的局部规划问题。

关键词: 自治水下机器人, 局部规划, 模糊逻辑

Abstract: This paper analyses the real undersea environment effects on Autonomous Underwater Vehicle(AUV) and presents a local planning architecture based on Fuzzy Logic(FL). The key feature of the approach is integrated with the states of AUV, the environment of path and the object. The result of planning is a velocity factor, which can be taken into account by local path planning solution. Experiments show that the method is helpful and reliable especially to long distance and big-scale voyage of AUV.

Key words: Autonomous Underwater Vehicle(AUV), local planning, Fuzzy Logic(FL)

中图分类号: 

• TP242