A Behavior-Based Path Planning Method for Multiple Underwater Robots
An underwater robot and path planning technology, applied in instruments, two-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve problems such as inability to complete collaborative tasks, and achieve good local convergence speed and fast convergence. effect of ability
Active Publication Date: 2020-02-14
HARBIN ENG UNIV
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Problems solved by technology
Most of the traditional multi-underwater robot path planning methods only consider that the AUV does not collide with other AUVs when performing tasks, and does not consider that the AUV may lose contact with other members, so that it cannot complete the cooperative task
[0004] The present invention proposes a behavior-based multi-underwater robot path planning strategy suitable for dynamic and unknown environments, by defining basic behaviors to add constraints to the AUV's navigation path, and then establishing a behavioral objective function and a global objective function to solve collaborative information collection Safety and Collaboration Issues in the Process
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[0052] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0053] A behavior-based path planning method for multiple underwater vehicles, including:
[0054] 1. Define three basic behaviors to constrain the movement of AUV, to ensure the shortest voyage distance of AUV under the premise of safety, and to achieve coordination with other AUVs.
[0055] 2. The behavioral objective function corresponds to the basic behavior, which is the specific mathematicization of the basic behavior, defined in the decision space of the AUV, and the convergence of the function must be guaranteed.
[0056] 3. The global objective function takes into account the comprehensive influence of the three basic behaviors, and uses the particle swarm optimization algorithm with inertia weight to solve the optimal solution of the global objective function at different times. The optimal solution of the global objective f...
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The present invention provides a behavior-based multi-underwater robot path planning method and belongs to the path planning technical field. The present invention provides a multi-underwater robot path planning strategy suitable for a dynamic unknown environment. The method specifically includes following steps that: basic behaviors are defined, so that constraints are added to the navigation path of an AUV (autonomous underwater vehicle), wherein the basic behaviors include energy-saving behaviors, cooperation behaviors and security behaviors; behavior objective functions corresponding to the basic behaviors are established, time variables and space variables which are associated with the AUV are combined; and a global objective function is established, so that the behavior fusion of the three kinds of basic behaviors is realized, and an particle swarm optimization algorithm with inertia weight is adopted to solve the global objective function, and a shortest path which can avoid collision can be generated through an outputted optimal solution.
Description
technical field [0001] The invention relates to a behavior-based path planning method for multiple underwater robots, and is a behavior-based path planning method for collaborative information collection of multiple underwater robots. Background technique [0002] Multiple Autonomous underwater Vehicles (MAUV for short) refers to a system in which a number of relatively simple homogeneous or heterogeneous AUVs can cooperate in some form to complete specific and complex tasks. . The parallelism of multiple underwater vehicles can significantly improve the performance of AUVs, shorten the mission time, and increase the probability of successful mission completion through the coordination of different individuals in the system. In addition, compared with a single underwater robot, the multi-UAV system has the advantages of higher efficiency, lower cost, high flexibility, and strong robustness. [0003] The key to making full use of the advantages of multi-underwater robot coo...
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IPC IPC(8): G05D1/02
CPCG05D1/0217
Inventor 王卓冯晓宁蒋龙杰林希元隋炎橙胡磊徐沈方姚淑香
Owner HARBIN ENG UNIV