随着无人潜航器（UUV）的广泛应用，如何在复杂水下环境中实现自主避障成为了关键问题。本文建立了UUV的动力学和模糊PID抗干扰模型，分析了海流及其干扰力模型，提出了改进的三维A*避障算法，并且基于UE5实现了海流影响下UUV的三维海底环境虚拟仿真和避障实验。仿真验证结果表明，海流对UUV航行路径的干扰显著；模糊PID可以有效实现在海流力影响下航迹和姿态的稳定性；三维避障算法能够有效应对纵深方向的障碍物，在Z轴进行避障，从而具有更强的避障能力，同时兼容二维避障算法。
With the widespread application of Unmanned Underwater Vehicles (UUVs), achieving autonomous obstacle avoidance in complex underwater environments has become a key challenge. This paper first establishes the dynamics and fuzzy PID anti-interference model for UUVs, analyzes the ocean current and its interference force model, and proposes an improved 3D A* obstacle avoidance algorithm. Based on UE5, a virtual simulation of the UUV's 3D underwater environment and obstacle avoidance under the influence of ocean currents is implemented. Simulation results show that ocean currents significantly interfere with the UUV's navigation path, fuzzy PID can effectively realize the stability of track and attitude under the influence of current force, and the 3D obstacle avoidance algorithm effectively addresses obstacles in the Z-axis demonstrating stronger obstacle avoidance capability and compatibility with 3D obstacle avoidance algorithm.
2025,47(18): 60-67 收稿日期：2024-12-16
DOI：10.3404/j.issn.1672-7649.2025.18.011
分类号：U664.82；TP37
基金项目：教育部学位与研究生教育发展中心主题案例库项目（ZT-231028914）；江苏省研究生科研与实践创新计划项目（SJCX24_2611）；中国科学院软件研究所合作项目（2205072325）
作者简介：嵇聪（1999 – ），男，硕士研究生，研究方向为计算机仿真
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