Path planning device and method for unmanned underwater vehicle based on detection threat domain

Abstract

The invention provides a path planning device and method for an unmanned underwater vehicle based on a detection threat domain, which solve a path planning problem of a UUV (Unmanned Underwater Vehicle) in a terrain obstacle environment according to a path planning algorithm based on the detection threat domain, and can satisfy kinematic constraints, collision avoidance constraints and concealment detection constraints of the UUV. A path from a starting point to an end point of the movement is planned with the given initial position, the end point position, maximum curvature constraints, the path discrete point resolution, concealment safety indexes and the like being given. The planned path is smooth and can be guided continuously, sailing and turning curvature constraints, the concealment safety indexes and the like of the UUV are satisfied, and the UUV is enabled to reach the end point safely in a concealed manner with the shortest time. According to the invention, a detection threat theory and a geometric theory of the sailing and turning curvature constraints are applied to the field of path planning for the UUV for the first time, and path planning can be realized quickly. The path planning method is simple, reliable, easy to implement, small in calculation amount and good in real-time performance, can meet path planning requirements, improves the practicability of path planning, and has positive significance for development of the underwater path planning field in the future.

Description

technical field [0001] The present invention relates to the research on the concealed path planning algorithm of unmanned underwater vehicles, in particular to a path planning device and method for unmanned underwater vehicles based on the detection threat domain, which belongs to the fields of terrain visibility, underwater acoustics, complex systems and intelligent control Fields, the present invention can be used in fields such as unmanned underwater vehicle control, navigation, and map construction. Background technique [0002] Path planning is an important problem in the research field of unmanned underwater vehicles. It can generate safe and navigable paths for unmanned underwater vehicles. Excellent or close to the optimal one. [0003] UUV path planning, as an important function to ensure the safe and efficient completion of tasks of UUV, has important practical significance. Many scholars at home and abroad have done a lot of research in this area, proposed many ...

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Problems solved by technology

[0004] To sum up, most of the current UUV path planning methods only consider the existence of obstacles, and do not consider how to deal with the waypoints to meet the constraints such as turning curvature and safety constraints such as detection threats based on hydroacoustics. etc., for this reason, the present invention is based on the underwater acoustic detection threat analysis of the navigation environment, and plans the concealed and safe feasible path of the unmanned submersible vehicle, so as to meet various constraints on the physical performance of the aircraft, and realize the unmanned submersible vehicle in the path. Engineering applications in the field of planning

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