An energy-saving a-satellite path planning method considering the influence of ocean currents and unmanned vehicle dynamics

Abstract

The present invention proposes an energy-saving A-star path planning method considering the influence of ocean currents and unmanned boat dynamics. The steps include: (1) obtaining global chart information and gridding; (2) obtaining the start and end position information of the unmanned boat ; (3) set the current position as the starting position, and create OPEN and CLOSD tables; (4) calculate the speed of the unmanned boat under the influence of the ocean current; (5) store the current position in the OPEN table; (6) judge the current Position Whether the unmanned boat can travel in eight directions around, etc. Based on the traditional A-star path planning algorithm, combined with the dynamic model of unmanned boats under the influence of ocean currents, the present invention designs the energy consumption heuristic function E_heurstic considering the impact of ocean currents, and realizes the energy-saving efficiency of the algorithm by adjusting the weight of the function The dynamic adjustment provides technical support for the unmanned boat to work on the sea for a long time.

Description

technical field [0001] The invention relates to the field of global path planning of surface unmanned boats, in particular to an energy-saving A-star path planning method considering the influence of ocean currents and dynamics of unmanned boats. Background technique [0002] In the 21st century, people pay more and more attention to the exploration of the ocean, and unmanned boats, as a maritime intelligent unmanned system, have been widely used in both civilian and military applications. With the rapid development of science and technology, the technology of unmanned boats is also constantly developing and improving. However, more powerful functions also correspond to higher energy consumption. How to improve the endurance and endurance of unmanned boats at sea with limited energy? Working hours have increasingly become one of the focal issues that people pay close attention to. [0003] In the document "Research on Fast Path Planning of Underwater Robots in Marine Enviro...

AI Technical Summary

Problems solved by technology

However, the motion characteristics and working environment of cars and unmanned boats are very different, and this method does not consider the influence of the environment on the planning object, so it cannot be applied to the energy-saving path planning of unmanned boats.

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