中文摘要：

水下动态航路规划不仅需要考虑适配区的选择，还需要进行实时目标探测和有效避障，这样才能保证潜器的导航安全。文中提出一种同时考虑适配区选择和目标探测的水下航路规划方法，在重力梯度特征空间中基于支持向量机进行适配区的选择，利用重力梯度反演进行目标探测。该方法使潜器既能在适配区航行时进行有效定位，又能避免触碰暗礁和运动潜器等障碍物。仿真分析证明此方法有效。

英文摘要：

In dynamic underwater path planning ,consideration should be given to not only adaptive area selection but also real-time target detection and effective obstacle avoidance ,w hich can ensure the safety of the submarine .This paper proposes an approach to underwater path planning which considers both adaptive area selection and target detection simultaneously .With the approach ,adaptive area selection is based on support vector machine and target detection is based on gravity gradient inversion .The approach makes it possible to effectively position the submarine while navigating in adaptive area and it can also prevent the submarine from striking on reefs or other moving submarines .Simulation results show that the proposed approach is valid .