Optimal route search method for auv energy based on distance evolution n-pso

Abstract

The present invention relates to the technical field of AUV path optimization, and provides an AUV energy optimization path search method based on distance evolution N-PSO. First, an underwater environment model and an AUV two-dimensional motion model are constructed; Generate the initial path, in the kth iteration, update the global optimal solution and the individual optimal solution according to the value of the particle penalty function, and construct the distance evolution factor and evolution state Evo_state according to the average distance between particles k ;Evo_state k =1, if k≥K, then output the energy optimal path and its energy consumption value, otherwise, update the particle velocity and position, and proceed to the next iteration; Evo_state k When ≠1, the particle is randomly disturbed. When the penalty function value of the particle becomes smaller after the disturbance or iter≥ITER, the global optimal solution and the individual optimal solution are updated, otherwise, the next disturbance is performed. The invention can optimize the AUV path from the perspective of energy optimization, has high optimization efficiency, good robustness, more stable optimization results, and is easy to implement.

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 used in seabed investigation, data collection, mine clearance, lifesaving and long-term aquatic detection tasks. 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 to ensure the r...

AI Technical Summary

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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