针对无人潜航器（Unmanned Underwater Vehicle,UUV）采用传统动态窗口算法（Dynamic Window Approach,DWA）在路径规划过程中，应对多障碍物环境时，存在机动频次高，航行轨迹差的问题，本文提出一种自适应DWA算法。将传统DWA算法中的3种评价函数权重与UUV相对障碍物的距离和方向相关联，设置自适应加权系数，使算法能够根据当前UUV所处环境，实时合理调整各评价函数权重，优化UUV航行路径；最后利用Matlab对自适应DWA算法进行UUV路径规划仿真，并与传统DWA算法和人工势场法进行对比。结果表明，改进的DWA算法能够根据当前环境，合理改变评价函数权重，有效提高UUV局部最优路径规划能力。
Aiming at the problems of high maneuvering frequency and poor sailing trajectory when facing multiple obstacles in the path planning process of unmanned underwater vehicle (UUV) using traditional Dynamic Window Approach (DWA), this paper proposes an adaptive DWA algorithm. The three evaluation function weights in the traditional DWA algorithm are associated with the distance and direction of the UUV relative to the obstacles, and the adaptive weighting coefficients are set, so that the algorithm can reasonably adjust the weights of each evaluation function in real time according to the current environment in which the UUV is located, and optimize the navigation path of the UUV; finally, the adaptive DWA algorithm is used in the simulation of the path planning of the UUV and compared with the traditional DWA algorithm and the artificial potential field method. and artificial potential field method. The results show that the improved DWA algorithm can reasonably change the weights of the evaluation functions according to the current environment, and effectively improve the local optimal path planning ability of UUV.
2025,47(23): 118-124 收稿日期：2025-3-9
DOI：10.3404/j.issn.1672-7649.2025.23.018
分类号：U664.82
作者简介：杨润泽(2000-),男,硕士研究生,研究方向为UUV路径规划技术
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