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

A technology of energy consumption and path planning, applied in navigation, measuring device, mapping and navigation, etc., can solve the problems of lack of effectiveness, monotonous X-axis direction, weakening the diversity of output results, etc.

Active Publication Date: 2018-11-06
HARBIN ENG UNIV
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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 Aut

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

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[0056] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0057] combine figure 1 -8. The path planning method of the present invention can use various optimization algorithms to realize the optimization process of planning by establishing a UUV-based energy consumption model, such as an evolutionary algorithm. Taking the QPSO algorithm as an example, it can be implemented according to the following steps:

[0058] Step 1: Determine the actual speed V of the UUV over the ground g And real-time updated ocean current information V c . Among them, the specific method of determining the speed and the establishment of the coordinate system are as follows:

[0059] like figure 1 As shown, a fixed coordinate system for UUV navigation in a two-dimensional ocean environment is established, where the X-axis faces the true north of the geographic location, and the Y-axis faces the true east of the geographic location. Among t...

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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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Application Information

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IPC IPC(8): G05D1/06G01C21/34G06Q10/04
CPCG01C21/3446G05D1/0692G06Q10/047
Inventor 王宏健周赫雄么洪飞肖瑶王莹张勋
Owner HARBIN ENG UNIV
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