A Path Planning Method for Underwater Submersible Based on Auxiliary Decision System

Abstract

The invention provides an underwater submersible vehicle route planning method based on an assisted decision-making system and belongs to the field of underwater submersible vehicle route planning. The method provided by the invention comprises the following steps: determining a planning space according to nautical chart information and known sonar information; modeling for known sonar performanceand determining a safety virtual shell of an underwater submersible vehicle; carrying out global route planning by utilizing a Q learning algorithm; acquiring sensor information and judging whether the assisted decision-making system needs to be used or not; if so, starting the assisted decision-making system to avoid a sonar or obstacles; judging whether the underwater submersible vehicle reaches a target point or not. According to the underwater submersible vehicle route planning method, a sound stealth capability of the underwater submersible vehicle is used as an influence factor and is introduced into the route planning, and is combined with the assisted decision-making system, so that the underwater submersible vehicle can be used for carrying out automatic route planning when a sound stealth state is kept in a complicated environment; the autonomous ability, practicability and safety of the underwater submersible vehicle are improved.

Description

technical field [0001] The invention belongs to the fields of underwater submersible path planning, artificial intelligence and the like, and in particular relates to an underwater submersible path planning method based on an auxiliary decision system. Background technique [0002] Underwater submersibles have broad application prospects in marine scientific research, marine development, underwater engineering, and military affairs. [0003] Path planning refers to finding a safe and non-collision path from the starting point to the target point. It is an important topic in the research of robot navigation. With the development of computer intelligence technology, making intelligent robots have self-learning ability has become a hot topic in various fields. . Its key technology is to design learning methods to enhance the intelligence of robots, that is, to let robots acquire the ability to solve problems by themselves through learning and training. Among the current vario...

AI Technical Summary

Problems solved by technology

At present, domestic research results are mostly limited to the assessment of submarine stealth situation, and there are few researches on the automatic generation of schemes and simulation deduction in stealth auxiliary decision-making, which cannot provide more intuitive auxiliary decision-making information, and people still need to make decisions according to the situation

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