Multi-AUV self-adaptive target searching and obstacle avoidance method oriented to unknown environment

Abstract

The invention discloses a multi-AUV self-adaptive target searching and obstacle avoidance method oriented to an unknown environment, and the method is suitable for multi-AUV target searching under anunknown complex underwater environment. The method is mainly divided into three modes including a target mode, a non-target mode, and an obstacle avoidance mode. In the target mode, the self-adaptivesearching is achieved through dynamic real-time prediction according to the target information for sensing the outside; in the non-target mode, full-area coverage searching and collaborative planningtasks are achieved through a sub-area strategy; and in the obstacle avoidance mode, the barrier threat is avoided in real time based on the improved dynamic window method. According to different underwater environment information, a multi-AUV target searching task is executed through alternate mode switching among the three modes, and the uncertain information under the unknown water can be dealtwith, the credible interval of the target state information is guaranteed, and environment adaptability and searching efficiency are achieved.

Description

technical field [0001] The invention relates to an intelligent control method for an underwater unmanned vehicle, in particular to a method for target search and obstacle avoidance for multiple AUVs in an unknown environment. Background technique [0002] In modern marine activities, the cooperation of multiple AUVs has become an inevitable trend. Compared with a single AUV, multiple AUVs can improve operational efficiency and task robustness. Due to the complexity of the underwater environment and the uncertainty of the target state, it is impossible for multiple AUVs to fully obtain the target information of the mission environment in advance during operation planning. Facing the unknown and complex underwater environment, multi-AUV must have the ability of real-time planning and target search. [0003] At present, the target search methods of most AUV clusters are based on the known environment or part of the known environment. The search track is pre-planned offline. Fa...

AI Technical Summary

Problems solved by technology

Some scholars have carried out local track adjustment in the multi-AUV search process for some unknown environments, but they cannot achieve efficient search results and real-time adaptability to the environment in completely unknown environments.

The random search method can theoretically ensure the multi-AUV target search in an unknown state, but due to the unknown global information, it is difficult for the algorithm to support independently, and the calculation amount is too large

Images