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Route planning method for autonomous underwater vehicle aiming at undetermined mission time

A technology for underwater vehicle and route planning, applied in the direction of navigation calculation tools, etc., can solve problems such as undiscovered, achieve the effect of strong versatility, convenient use, and ensure global optimality

Active Publication Date: 2014-09-10
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In recent years, in the field of AUV route planning research, some research results have been obtained, but for the research on AUV multi-waypoint route planning with uncertain mission time, domestic and foreign research has not found

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  • Route planning method for autonomous underwater vehicle aiming at undetermined mission time
  • Route planning method for autonomous underwater vehicle aiming at undetermined mission time
  • Route planning method for autonomous underwater vehicle aiming at undetermined mission time

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Embodiment Construction

[0022] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0023] The implementation steps of the embodiment of the present invention are:

[0024] 1. Coding the route planning problem

[0025] genetically coded as figure 1 shown. The coding of each feasible solution can be represented by multiple sub-coding sequences, each sub-coding sequence represents the waypoint order of one AUV, and the number of sub-coding sequences represents the number of AUVs required to sail all the waypoints.

[0026] 2. Generate initial population

[0027] For a population of size N, each individual will be randomly generated. Suppose there are N V AUVs participate in the task together. First, randomly generate N V [1, N V ] is a positive integer, as the number of waypoints that each aircraft needs to navigate. Then, determine the specific value of each waypoint and ensure that no waypoint duplication occurs.

[0028] 3. Population ...

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Abstract

The invention relates to a route planning method for an autonomous underwater vehicle aiming at undetermined mission time. The route planning method is characterized by comprising the following steps of: encoding a route planning problem to obtain a population with a scale of N; estimating population fitness and selecting N good individuals from the current population; carrying out interlace operation on the good individuals at a probability of pc; carrying out mutation operation on the interlaced good individuals at a probability of pm; carrying out an elicitation type mutation operation to obtain an optimal individual; and decoding the optimal individual according to an encoding rule in the step 1, so as to obtain a planned route of each AUV (Autonomous Underwater Vehicle). The route planning method for the autonomous underwater vehicle aiming at the undetermined mission time provided by the invention can be used for planning the routes of a plurality of AUVs, so as to realize cooperative route plane of a multi-AUV system, and ensure the global optimum of a planning result. Furthermore, the route planning method has the characteristics that use is convenient and generality is strong, and can be applied to the route plane of a robot and the like.

Description

technical field [0001] The invention belongs to the field of AUV task allocation and route planning, and relates to an autonomous underwater vehicle route planning method for uncertain task time. Background technique [0002] AUVs usually need to perform tasks such as observation in a large range, and the task time required for these task points can only be known through prior estimation. Therefore, when performing multi-point missions, it is necessary to consider the uncertainty of the time required for each mission point, as well as the return and charging time caused by the maximum working time constraints of the aircraft while planning the sequence of the arrival of the aircraft at the mission points. , to minimize the time required for the entire task process. [0003] In recent years, some research results have been obtained in the field of AUV route planning research, but for the research on AUV multi-waypoint route planning with uncertain mission time, domestic and ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
Inventor 彭星光严卫生宋保维刘明雍张福斌高剑崔荣鑫张立川
Owner NORTHWESTERN POLYTECHNICAL UNIV
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