A UUV path planning method based on energy consumption and sampling quality multi-target optimization under influences of a complex marine environment

Abstract

The objective of the invention is to provide a UUV path planning method based on energy consumption and sampling quality multi-target optimization under influences of a complex marine environment. Themethod includes determining the actual navigation speed over the ground of a UUV and oceanic current information, updated in real time, provided by an oceanic forecasting system; initializing variousparameters needed for an optimization algorithm; generating path control nodes randomly through spatial decomposition modeling; generating an initial path through B-Spline fitting; performing MOPSO algorithm iteration to solve a Pareto solution corresponding to a optimized target evaluation function; selecting a solution from the solution set through an FCE method according to the current newestupdated oceanic forecasting information and UUV energy level; outputting path control modes corresponding to the finally selected solution; and performing B-Spline fitting to obtain a path track result according to the outputted path control nodes. The UUV path planning method is used for generating the optimum path control modes mostly suitable for the current energy consumption level of the UUVand the future oceanic characteristic changing trend, and acquiring the optimum path track through fitting the path nodes.

Description

technical field [0001] The invention relates to a UUV remote control method. Background technique [0002] Compared with the collection of marine information by traditional buoy sensors, the autonomy of autonomous underwater vehicles brings greater flexibility and pertinence to collection tasks. Autonomous underwater vehicles include unmanned underwater vehicles (Unmanned Underwater Vehicle, hereinafter referred to as UUV) and underwater gliders (glider). Compared with UUV, glider is not equipped with self-propelling device, and it travels completely by the characteristics of changes in the position of buoyancy and center of gravity and the effect of ocean currents, so it can work for a longer time. However, due to the lack of propulsion devices, the movement of the glider is limited by ocean currents, and there may be unreachable collection areas, which brings great challenges to the collection of marine information. Due to its freedom and controllable propulsion device, ...

AI Technical Summary

Problems solved by technology

Different from previous literatures that consider UUV adaptive sampling of fixed feature background, such as UUV or glider for adaptive sampling, but only use static ocean feature maps as planning background, ignoring the possible temporal and spatial changes of ocean features

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