在建立前视声呐视域模型和人工势场模型的基础上，对AUV进行决策控制，通过梯度逼近法对目标进行搜索，快速规划出一条无碰撞的路径。
On the basis of building forward looking sonar view model and artificial potential model, decision control of AUV is made, objects are searched through grads approach, a collision free path is planed.
本文分析了梯度辨识算法跟踪时变系统的缺点，提出了一种新的基于局部多项式逼近的变参数梯度估计算法。
The trackability limitation of current gradient algorithm is discussed. A new algorithm, named variable parameter gradient estimation algorithm with local polynomial approximation is proposed.
然后利用这种模式的特点，在线优化算法相结合的策略梯度估计及随机逼近而得。
Then by utilizing the features of this model an online optimization algorithm that combines policy gradient estimation and stochastic approximation is derived.
通过梯度矢量流模型迭代求解，解决道路凹陷位置逼近问题，最终实现道路提取。
At the same time, how to get the approximate road hollow position is solved to realize the road contour extraction by gradient vector flow model with iterative solution.
通过梯度矢量流模型迭代求解，解决道路凹陷位置逼近问题，最终实现道路提取。
At the same time, how to get the approximate road hollow position is solved to realize the road contour extraction by gradient vector flow model with iterative solution.
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