中文摘要：

为解决自治水下机器人（Autonomous Underwater Vehicle,AUV）的路径规划问题,规划动态人工势场技术路径.在传统人工势场方法的数学模型和仿真试验的基础上,提出1种改进的势场函数,在二维空间中对水下机器人进行数学建模.在Matlab中针对动态障碍物、静态目标物的动态水下环境进行仿真试验.结果表明,运用该技术可以达到良好的效果.

英文摘要：

To solve the problem of path planning for Autonomous Underwater Vehicle （AUV） , a dynamic artificial potential field technology is introduced into the path planning. On the basis of mathematical models and simulation experiments of the traditional artificial potential field, a modified potential field function is prsented, and a mathematical model of underwater vehicle is established in two-dimensional space. Simulation tests are conducted in the dynamic underwater environment with dynamic obstacles and static target in Matlab. Results show that this technique produces good effect.