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An improved belief function method for path planning of AUV

机译：AUV路径规划的一种改进的置信函数方法

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Path planning of AUV is a research topic of great importance. And the velocity vector synthesis method and belief function method can be applied in this area. Though it can plan a straight way for AUV to reach the target under the influence of current, the velocity vector synthesis method cannot avoid obstacles. Then belief function method is proposed to avoid obstacles and prevent speed jump of AUV. But the method may have folding path and “dead point” problems sometimes. Therefore, it cannot be applied in practical circumstances. In this paper, a restricted velocity vector synthesis method combined with improved belief function is proposed to overcome these situations. The effectiveness of the proposed algorithm is proved through effectiveness simulation. And comparison simulation is carried out. It is demonstrated that the folding path and “dead point” problems are solved by the improved method.
机译：AUV的路径规划是一个非常重要的研究课题。速度矢量合成法和置信函数法可以应用在这一领域。速度矢量合成方法虽然可以为AUV在电流的影响下到达目标的直接规划方法，但不能避开障碍物。然后提出了置信函数的方法来避免障碍物和防止水下机器人的速度跳跃。但是该方法有时可能会出现折叠路径和“死点”问题。因此，它不能在实际情况下应用。本文提出了一种结合改进的置信函数的受限速度矢量合成方法来克服这些情况。通过有效性仿真证明了该算法的有效性。并进行了比较仿真。证明了通过改进的方法解决了折叠路径和“死点”问题。

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