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A route planning method for uuv under the threat of the Internet

A technology of route planning and Internet, applied in three-dimensional position/course control, instruments, calculation models, etc., to achieve the effect of short routes

Active Publication Date: 2018-03-02
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these methods cannot artificially control the maximum risk tolerance probability (or the safety probability that the aircraft should maintain), and the UUV often passes through the threat area that appears earlier and bypasses the threat area that appears later, which is difficult in practical applications. Guarantee a better route, because under certain constraints, the UUV may take less risk by bypassing earlier threats and passing through later threats, and the path is more optimized

Method used

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  • A route planning method for uuv under the threat of the Internet
  • A route planning method for uuv under the threat of the Internet
  • A route planning method for uuv under the threat of the Internet

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specific Embodiment approach 1

[0044] Specific implementation mode one, a kind of path planning method that threatens UUV under the Internet described in this implementation mode, carry out according to the following steps:

[0045] Step 1: Pass in the deployment point and recovery point, and store the array list[] of the necessary points according to the traversal order; obtain the safety probability safep_limit required by the user; set the number of ant colony m_AntNum, the maximum number of iterations Max_generation, and the number of historical optimal retention Max_histBest, pheromone volatilization coefficient vol, pheromone upper limit up_limit, pheromone lower limit low_limit; Step 2: Initialize pheromone matrix, history best ant HistoryBestAnt, history best ant saved times history_best_hold=0, cycle iteration number m_generation=0 ;

[0046] Step three: set ant k=0, go to step four;

[0047] Step 4: If k>m_AntNum, go to step 8, if, k

specific Embodiment approach 2

[0058] Specific embodiment two, this embodiment is a further description of the route planning method for a UUV that threatens the Internet described in the specific embodiment one. The calculation rules involved in step seven have safety probability calculation rules, and its specific content is as follows:

[0059] The risk borne by the planned path is converted into the safety probability safep, that is, the greater the risk borne by the UUV, the smaller the safety probability; the danger probability of the threat area increases exponentially in a certain way according to the number of threat areas passed by the UUV, and the safe probability calculation rules of the path as follows:

[0060]

[0061] Among them, i is the serial number of the threat area passed on the path, N is the total number of threat areas passed on the path, thread_pro_i is the threat probability of the i-th threat area passed on the path, w is the threat escalation weight, w>1.

specific Embodiment approach 3

[0062] Specific embodiment three. This embodiment is a further description of the route planning method for a UUV that threatens the Internet described in the specific embodiment one. The calculation rules involved in step seven have a state transition probability calculation method, and its specific content is as follows:

[0063] State transition probability calculation rules:

[0064]

[0065] In the above formula, is the probability that ant k transfers to the visible point j at the current target point i; allow is the set of visible points that ant k is allowed to do state transition at the current target point i; η is a heuristic function, which is the visual point to be transferred to the current target The reciprocal of the point-line distance, η j is the reciprocal of the straight-line distance from the visible point j to be transferred to the current target point i, η r is the reciprocal of the straight-line distance from any point in allow to the current targe...

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Abstract

The invention relates to the technical field of path planning, and especially relates to a UUV navigation path planning method under a threat Internet. The invention aims at solving a problem that the safety probability, which should be kept, of a UUV cannot be set in advance in an environment of the threat Internet when there are an obstacle region and a threat region at the same time, and a problem that a navigation path is difficult to remain the shortest as much as possible. The method enables a safety probability calculation rule and an ant colony state transfer probability calculation method based on safety guarantee to be used in an ant algorithm. Different from a conventional ant colony algorithm which has a fixed target point in a planning process, the target points in the invention will change sequentially in a planning process according to a traversal sequence. A path obtained by each ant is a complete path from an arrangement point and all designated points to a recovery point. The planning is not planned in a segmented and jointed, but is completed at a time. The method can be used in a technical field of path planning.

Description

technical field [0001] The invention relates to the technical field of path planning, in particular to a route planning method for UUV under the threat of the Internet. Background technique [0002] In the process of UUV (Unmanned Underwater Vehicle, unmanned underwater vehicle) route planning, the threat area is different from the obstacle area. The obstacle area is strictly forbidden to pass through, while the threat area is an area that can choose to pass but will bear certain risks. With the development of communication technology, each threat zone no longer works independently, but shares target information through networking. Therefore, when UUV passes through a certain threat zone and passes through other threat zones again, the risk it bears will greatly increase. Therefore, under the Internet of Threats, the threat to UUV is no longer a simple accumulation of the threat levels of the threat areas it passes through. Tian Kuo et al. Modeling and Analysis explores the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10G06N3/00
CPCG05D1/10G06N3/00
Inventor 王宏健张雪莲吕洪莉李本银张耕实
Owner HARBIN ENG UNIV