Remote navigation path planning method based on energy consumption optimization and considering ocean circulation influence for UUV

Abstract

The object of the present invention is to provide a remote navigation path planning method based on energy consumption optimization and considering an ocean circulation influence for a UUV. The methodincludes following steps: determining a practical to-ground navigation speed of the UUV and ocean circulation information updated in real time; initializing various kinds of parameters required by anoptimization algorithm; randomly generating path control nodes through space decomposition modeling, and generating an initial path by employing B-Spline fitting; entering a QPSO algorithm iterationprocess, calculating a particle average optimal position corresponding to a current path, and calculating the energy consumption of the UUV corresponding to the current path; determining a final optimal solution through a corresponding optimization process; outputting a final path control node; and generating a path track with the optimal energy consumption through fitting according to the final control node. According to the method, an energy consumption value obtained through three optimization algorithms by regarding the energy consumption as the optimization target is far lower than the energy consumed through the same algorithms by regarding the navigation time as the optimization.

Description

technical field [0001] The invention relates to a UUV remote control method. Background technique [0002] Unmanned Underwater Vehicle (UUV) is a type of underwater vehicle that uses various enabling technologies to navigate and perform multiple tasks. It has recently attracted attention from military, scientific research and commercial applications. . In practical applications, due to the limited battery capacity of UUV itself, the energy limitation when performing long-term observation or monitoring tasks has become a technical bottleneck that needs to be solved urgently. In addition, when UUV performs long-term missions, its actual navigation speed is basically in the same dimension as the circulation speed in the ocean, so the circulation will seriously affect the work efficiency and energy consumption of UUV. [0003] Different from previous planning methods that ignore the influence of ocean circulation, the present invention realizes a path planning method that take...

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Problems solved by technology

However, the method in this paper is limited to the strict monotonicity of the X-axis direction of the AUV, which weakens the diversity of the output results.

Literature (Kruger, D., R. Stolkin, A. Blum and J. Briganti. estuarine environments [C]. In: Proceedings of the IEEE International Conference on Robotics and Automation, 2007) using A * The algorithm completes the path planning considering the ocean current by limiting the minimum thrust of the AUV thruster, but the assumptions in this document are too strict and lack practicality, and the final path trajectory does not conform to the actual dynamic characteristics of the AUV

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