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Bio-inspired self-organizing mapping path planning method of autonomous underwater vehicle under ocean circulation

An underwater vehicle and self-organizing mapping technology, which is applied in the direction of instruments, navigation, surveying and navigation, etc., can solve problems such as impact, and achieve the effects of reducing power consumption, saving power consumption, and improving office efficiency

Inactive Publication Date: 2019-08-06
HOHAI UNIV
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Problems solved by technology

[0003] Purpose of the invention: In order to solve the obstacle avoidance problem existing in AUV path planning in the prior art and be affected by ocean circulation, the present invention provides a bio-inspired self-organizing mapping path planning method for autonomous underwater vehicles under ocean circulation

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  • Bio-inspired self-organizing mapping path planning method of autonomous underwater vehicle under ocean circulation
  • Bio-inspired self-organizing mapping path planning method of autonomous underwater vehicle under ocean circulation
  • Bio-inspired self-organizing mapping path planning method of autonomous underwater vehicle under ocean circulation

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Embodiment Construction

[0052] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0053] Such as figure 1 As shown, the bio-inspired self-organizing mapping path planning method for autonomous underwater vehicles under ocean circulation combines the path planning algorithm with ocean circulation to jointly determine the operating path of the AUV. Such as figure 1 (a), first combine the GBNN algorithm and the SOM algorithm, use the GBNN to construct the underwater environment model, use the SOM algorithm to assign tasks, and finally determine the task target according to the output of the activity value. Secondly, considering the factor of ocean circulation, by constructing the ocean current model and defining the ocean current energy function, the influence of the ocean environment on the operation of the AUV is simulated. Finally, by adding the ocean current factor, the AUV can find a safe, barrier-free and power-saving e...

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Abstract

The invention discloses a bio-inspired self-organizing mapping path planning method of an autonomous underwater vehicle under ocean circulation. On the basis of a GBSOM algorithm model, path planningis carried out on an autonomous underwater vehicle; an ocean current model and an ocean current energy function are constructed, the influence on the autonomous underwater vehicle by the ocean currentis mathematicized, and an ocean current speed is calculated based on the ocean current model; with an ocean energy function, the performance of the path planning of the autonomous underwater vehicleduring operation is evaluated; an ocean current factor is added, the ocean current model is combined with the GBSOM algorithm model by the ocean current factor, an ocean current speed direction is superposed with a predetermined running direction, the location of a task target is updated, and a final navigation path of the autonomous underwater vehicle is planned. According to the invention, the real-time performance is good; the safety obstacle avoidance is realized; the large speed jump is avoided; the office efficiency is improved substantially; the energy is saved; the power consumption isreduced; and a safe, obstacle-free, effective line with power consumption saved is found out in the path planning process.

Description

technical field [0001] The invention relates to a path planning algorithm, in particular to a biologically inspired self-organizing mapping path planning method for an autonomous underwater vehicle under ocean circulation. Background technique [0002] In recent years, path planning algorithms for AUV (autonomous underwater vehicles) have emerged in an endless stream, and the research field has also changed from a single physics to two major disciplines of physics and biology, which makes the path of AUV navigation more and more accurate. However, the final path of the AUV is completed under the joint action of the ocean current direction and the path planning direction. Therefore, while studying the attributes of the AUV itself, the carrier of the AUV, the ocean circulation, should also be considered. In the context of modern science pursuing high precision, high safety, and high efficiency, how to plan a safe and reliable path under the influence of ocean currents, and how...

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Application Information

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IPC IPC(8): G01C21/20G05D1/10
CPCG01C21/203G05D1/10
Inventor 黄浩乾张国禄周军王冰史仍笃黄铁
Owner HOHAI UNIV
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