Plane track planning method of unmanned underwater vehicle (UUV) formation

Abstract

The invention relates to a plane track planning method of an unmanned underwater vehicle (UUV) formation, and belongs to the technical fields of unmanned underwater vehicles and track planning. The method includes: constructing a mission space model according to an environment information database or environment information of sensor detection; using an improved and fused algorithm of an APF algorithm and an RRT algorithm for global track planning on the basis of static environment information; and using global planning path points as sub-target-points, and carrying out local planning in sections on the basis of dynamic environment information. According to the method, the unreachable-target and local-optimization problems of APF are solved through a certain improvement scheme in a globalplanning algorithm, the three major characteristics of RRT non-determination, non-optimization and slow convergence are mitigated, deterministic and stochastic track planning methods are combined, static planning and dynamic planning are combined, location planning and speed planning are combined, a track reduction algorithm achieves an effect of further optimizing a track, and meeting of missionrequirements of safety, optimality and real-time performance of track planning of multiple unmanned underwater vehicles is guaranteed.

Description

technical field

[0001] The invention relates to a planar track planning method of an underwater unmanned vehicle formation, and belongs to the technical field of unmanned underwater vehicles and track planning. Background technique

[0002] Underwater unmanned vehicle is derived from the literal translation of the English word Unmanned Underwater Vehicle (UUV). It does not need the mother ship to provide energy supply and information guidance, and relies on its own energy to provide power and rely on automatic control technology for guidance to complete expected tasks. Autonomous submersibles that operate below the surface for extended periods of time. Due to the complex, dangerous, and full of unknown factors in which tasks are performed, in order to ensure the safety of operators, it is necessary to use unmanned aerial vehicles; capable of autonomous control. Therefore, it has indispensable application value in exploring ocean bottom resources, exploring marine science a...

Examples

Embodiment Construction

[0091] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0092] A method for planning a plane track of an underwater unmanned aerial vehicle formation, specifically comprising the following steps:

[0093] Step 1: According to the environmental information database or the environmental information detected by the sensor, construct the mission space model. Since the trajectory planning process is carried out in two-dimensional space, the mission space is described as: Ω={(x,y)|x min ≤x≤x max ,y min ≤y≤y max ,z≡C}, where the center of the basic unit circle of the obstacle zone is (x obstacle ,y obstacle ), the radius is R obstacle , the puffing distance is d over-measure , its model is attached as figure 2 shown;

[0094] Step 2: Based on the static environment information, the artificial potential field method (APF) and the improved and fusion algorithm of the rapid expansion random...

technical field

[0001] The invention relates to a planar track planning method of an underwater unmanned vehicle formation, and belongs to the technical field of unmanned underwater vehicles and track planning. Background technique

[0002] Underwater unmanned vehicle is derived from the literal translation of the English word Unmanned Underwater Vehicle (UUV). It does not need the mother ship to provide energy supply and information guidance, and relies on its own energy to provide power and rely on automatic control technology for guidance to complete expected tasks. Autonomous submersibles that operate below the surface for extended periods of time. Due to the complex, dangerous, and full of unknown factors in which tasks are performed, in order to ensure the safety of operators, it is necessary to use unmanned aerial vehicles; capable of autonomous control. Therefore, it has indispensable application value in exploring ocean bottom resources, exploring marine science a...

Examples

Embodiment Construction

[0091] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0092] A method for planning a plane track of an underwater unmanned aerial vehicle formation, specifically comprising the following steps:

[0093] Step 1: According to the environmental information database or the environmental information detected by the sensor, construct the mission space model. Since the trajectory planning process is carried out in two-dimensional space, the mission space is described as: Ω={(x,y)|x min ≤x≤x max ,y min ≤y≤y max ,z≡C}, where the center of the basic unit circle of the obstacle zone is (x obstacle ,y obstacle ), the radius is R obstacle , the puffing distance is d over-measure , its model is attached as figure 2 shown;

[0094] Step 2: Based on the static environment information, the artificial potential field method (APF) and the improved and fusion algorithm of the rapid expansion random...

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