框架四叉树的自主水下航行器追踪动态目标研究

框架四叉树的自主水下航行器追踪动态目标研究

An autonomous underwater vehicle (AUV) must use an algorithm to plan its path to distant, mobile offshore objects. Because of the uneven distribution of obstacles in the real world, the efficiency of the algorithm decreases if the global environment is represented by regular grids with all of them at the highest resolution. The framed quadtree data structure is able to more efficiently represent the environment. When planning the path, the dynamic object is expressed instead as several static objects which are used by the path planner to update the path. By taking account of the characteristics of the framed quadtree, objects can be projected on the frame nodes to increase the precision of the path. Analysis and simulations showed the proposed planner could increase efficiency while improving the ability of the AUV to follow an object.

作 者： 高博 徐德民 严卫生 Bo Gao De-min Xu Wei-sheng Yan   作者单位：   刊 名： 船舶与海洋工程学报（英文版）  英文刊名： JOURNAL OF MARINE SCIENCE AND APPLICATION  年，卷(期)： 2010 9(1)  分类号： U6  关键词： regular grid   framed quadtree   data structure   algorithm efficiency  

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