本文为美国麻省理工学院（作者：Konuralp Yigit）的硕士论文，共81页。

从海军作战到海洋科学任务，随着水下机器人技术的进步，自主驾驶的重要性也在不断增加。由于水下环境的动态性和间歇性、以及水下机器人自身的物理局限性，水下机器人自主作业的路径规划是可行的、可优化的。本文的目的是开发并演示一种基于水平集方法的水下路径规划算法。具体来说，目标是计算自动驾驶机器人的路径，从而在存在洋流的情况下将行驶时间降低至最少。该方法是利用或避免任何类型的洋流，并允许比正常车速大得多的洋流和随时间变化的三维洋流。

本文首先回顾了当前的海洋科学和机器人领域的路径规划方法，并讨论了它们的优缺点。综述了水平集和快速行进方法的基础，包括它们在水下路径规划中的新扩展和新应用。最后，推导并提出了一种新的可行的时变水下路径规划算法。为了证明该算法的性能，首先提出并讨论了一组日益复杂的理想化测试用例，文中还举例说明了一个涉及强洋流条件的三维路径规划实例。这个例子利用来自真实海洋预报系统的四维洋流来模拟大西洋中部海湾地区热带风暴经过时的海洋反应。

From naval operations to ocean science missions, the importance ofautonomous vehicles is increasing with the advances in underwater roboticstechnology. Due to the dynamic and intermittent underwater environment and thephysical limitations of autonomous underwater vehicles, feasible and optimalpath planning is crucial for autonomous underwater operations. The objective ofthis thesis is to develop and demonstrate an efficient underwater path planningalgorithm based on the level set method. Specifically, the goal is to computethe paths of autonomous vehicles which minimize travel time in the presence ofocean currents. The approach is to either utilize or avoid any type of oceanflows, while allowing for currents that are much larger than the nominalvehicle speed and for three-dimensional currents which vary with time. Existingpath planning methods for the fields of ocean science and robotics are firstreviewed, and the advantages and disadvantages of each are discussed. The underpinningsof the level set and fast marching methods are then reviewed, including theirnew extension and application to underwater path planning. Finally, a new feasibleand optimal time-dependent underwater path planning algorithm is derived andpresented. In order to demonstrate the capabilities of the algorithm, a set of idealizedtest-cases of increasing complexity are first presented and discussed. A real three-dimensionalpath planning example, involving strong current conditions, is also illustrated.This example utilizes four-dimensional ocean flows from a realistic ocean predictionsystem which simulate the ocean response to the passage of a tropical storm inthe Middle Atlantic Bight region.

1 引言

2 现有方法回顾

3 水平集方法理论

4 水下路径规划

5 结论

6 MATLAB文件说明与描述

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