AUV energy optimization path searching method based on distance evolution N-PSO

Abstract

The invention relates to the technical field of AUV path optimization, and provides an AUV energy optimization path searching method based on distance evolution N-PSO. The AUV energy optimization pathsearching method comprises the steps of: firstly, constructing an underwater environment model and an AUV two-dimensional motion model; secondly, generating an initial path of particles in a particleswarm randomly based on N-PSO, updating a global optimal solution and an individual optimal solution according to a particle penalty function value in the k-th iteration, and constructing a distanceevolution factor and an evaluation state Evo_statek according to the average distance among the particles; when Evo_statek is equal to 1, outputting an energy optimal path and its energy consumption value if k>=K, otherwise, updating a particle velocity and particle positions and carrying out next iteration; and when Evo_statek is not equal to 1, randomly perturbing the particles and updating a global optimal solution and an individual optimal solution when penalty function values of the particles become smaller or iter>=ITER after perturbation, otherwise, carrying out next iteration. The AUVenergy optimization path searching method can optimize the AUV path from the perspective of energy optimization, and has the advantages of high optimization efficiency, good robustness, more stable optimization result and easy implementation.

Description

technical field [0001] The invention relates to the technical field of autonomous underwater vehicle path optimization, in particular to an AUV energy optimization path search method based on distance evolution N-PSO. Background technique [0002] In the past many years, AUV (Autonomous Underwater Vehicle) has been considered as the most suitable tool for performing underwater detection tasks. It is widely used in Submarine investigation, data collection, mine clearance, lifesaving and long-term aquatic inspection tasks, etc. Due to the complexity and unpredictability of the depths of the ocean, AUVs may be affected by many unfavorable factors such as obstacles and unpredictable ocean currents when performing underwater tasks. Among them, AUVs are easily affected by ocean currents, especially eddies, because eddies are turbulent and changeable in direction. It has been proved in practice that AUV consumes more energy when passing through areas like eddy currents. In order...

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Problems solved by technology

[0003] The existing AUV optimal path search method does not start from the perspective of energy optimization, and has low efficiency, poor robustness, and unstable results, so that it is impossible to obtain a stable energy-optimized path

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