AUV (Autonomous Underwater Vehicle) three-dimensional path planning method based on reinforcement learning

Abstract

The invention designs an AUV (Autonomous Underwater Vehicle) three-dimensional path planning method based on reinforcement learning. The AUV three-dimensional path planning method comprises the following steps: firstly, modeling a known underwater working environment, and performing global path planning for an AUV; secondly, designing a bonus value specific to a special working environment and a planning target of the AUV, performing obstacle avoidance training on the AUV by using a Q learning method improved on the basis of a self-organizing neural network, and writing an obstacle avoidance strategy obtained by training into an internal control system of a robot; and finally receiving global path planning nodes after the robot enters into water, calculating a target heading plan by the AUV with the global path planning nodes as target nodes for planning a route, and avoiding obstacles by using the obstacle avoidance strategy in case of emergent obstacles. Through adoption of the method, the economical efficiency of the AUV routing path is ensured, and the security in case of emergent obstacles is ensured. Meanwhile, the route planning accuracy can be improved; the planning time isshortened; and the environmental adaptability of the AUV is enhanced. The method can be applied to the AUV which carriers an obstacle avoidance sonar and can implement autonomous routing.

Description

technical field [0001] The invention belongs to the field of AUV technology, and in particular relates to an AUV three-dimensional path planning method based on reinforcement learning. Background technique [0002] Due to the urgent need for the development of river and ocean resources and the monitoring of the hydrological environment, the role of the underwater field in the national economic development pattern and opening to the outside world is becoming more and more important, and the role in the construction of national ecological civilization is more significant. The position in the interests of development has become more prominent, and the strategic position in international politics, economy, military affairs, and scientific and technological competition has also risen significantly. At present, countries continue to develop and update underwater operation mission systems, and more and more efficient and economical methods and devices are gradually being adopted. A...

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Problems solved by technology

These all increase the difficulty of AUV control, so the design of its contr...

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