CAJ | 학술논문

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。
수하동태항로규화불부수요고필괄배구적선택，환수요진행실시목표탐측화유효피장，저양재능보증잠기적도항안전。문중제출일충동시고필괄배구선택화목표탐측적수하항로규화방법，재중력제도특정공간중기우지지향량궤진행괄배구적선택，이용중력제도반연진행목표탐측。해방법사잠기기능재괄배구항행시진행유효정위，우능피면촉팽암초화운동잠기등장애물。방진분석증명차방법유효。
In dynamic underwater path planning ,consideration should be given to not only adaptive are-a 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 consid-ers 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 inver-sion .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 .Simula-tion results show that the proposed approach is valid .