Underwater vehicle three-dimensional route planning method based on cuckoo search algorithm

A technology of cuckoo search and underwater submersible, which is applied in the field of three-dimensional path planning of underwater submersibles based on cuckoo search algorithm

Inactive Publication Date: 2014-04-30
HARBIN ENG UNIV
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Problems solved by technology

At present, there is no literature on the application of the cuckoo search algorithm to the 3D path planning of underwater vehicles

Method used

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  • Underwater vehicle three-dimensional route planning method based on cuckoo search algorithm
  • Underwater vehicle three-dimensional route planning method based on cuckoo search algorithm
  • Underwater vehicle three-dimensional route planning method based on cuckoo search algorithm

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Embodiment Construction

[0039] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0040] The invention discloses a three-dimensional path planning method for an underwater submersible based on a cuckoo search algorithm, which mainly includes the following steps:

[0041] Step 1: Model the 3D path planning problem of the underwater vehicle. Environment modeling for 3D path planning of underwater submersible and determination of fitness function for evaluating paths.

[0042] Step 2: Initialize the cuckoo search algorithm. Initialize the algorithm parameters and the position of the bird's nest, segment the space model, check whether the position of the bird's nest encounters obstacles, and select the initial global optimal position.

[0043] Step 3: Update the location of the bird's nest. First, use the Levy flight process to update the bird's nest position, compare the bird's nest position obtained in step 2, and take a better position; then dis...

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Abstract

The invention provides an underwater vehicle three-dimensional route planning method based on a cuckoo search algorithm and belongs to the technical field of underwater vehicle three-dimensional route planning. In detail, according to the problems existing in underwater vehicle three-dimensional route planning, the method includes the five basic steps of modeling, initializing the cuckoo search algorithm, updating the positions of cuckoo nests, selecting the global optimum position, judging an end condition and outputting the optimum route. According to the method, simplicity, high efficiency and global searching capacity of the cuckoo search algorithm are utilized well. Compared with a traditional underwater vehicle route planning method, the underwater vehicle three-dimensional route planning method is higher in intelligence and adaptability and is higher in flexibility and easier to implement compared with other intelligent optimization algorithms; the process of route planning is performed in a three-dimensional environment, a planned route is higher in practicability compared with a route planned in a two-dimensional environment, and the navigation requirements of an underwater vehicle can be met very well.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional path planning of an underwater submersible, and in particular relates to a three-dimensional path planning method for an underwater submersible based on a cuckoo search algorithm. Background technique [0002] Three-dimensional path planning of underwater vehicles is one of the key technologies to realize automatic and intelligent control of underwater vehicles. The 3D path planning of the underwater vehicle is given a moving body and a description of the environment. After the environment modeling is completed, the path planning task of the underwater vehicle needs to meet certain optimization criteria (such as path The shortest, least time-consuming, etc.) search for an optimal path (or sub-optimal path) from a specified starting point to a goal point. Since the underwater submersible works in a large-scale open three-dimensional space environment, this brings great difficulties to th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05B13/04
Inventor 刘厂郭兆新赵玉新李刚高峰李宁
Owner HARBIN ENG UNIV
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