由于该型船特有的吃水特性，其深置于水中的潜体极易与海底障碍物发生接触，从而引起船舶搁浅。

Its bodies in the sub water are apt to contact with the obstacles of the seabed because of its special character of sea gauge, consequently, causes ship grounding.

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基于模糊决策理论建立了海底集矿车在预定路径上行走过程的避障规划算法，并根据海底障碍物的高度和大小对海底集矿车进行绕障和越障决策。

Setting-up local planning arithmetic for deep sea mining vehicle who walk in scheduled path based on fuzzy decision, and it will decide to across or get around barriers based on barriers' height.

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