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An underwater unmanned vehicle formation plane track planning method

A technology for unmanned aerial vehicles and track planning, applied in the direction of instruments, two-dimensional position/course control, control/regulation systems, etc., can solve problems such as poor optimization, achieve the effect of optimizing track and realizing navigation conflicts

Active Publication Date: 2022-08-02
HARBIN ENG UNIV
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Problems solved by technology

[0008] The purpose of the present invention is to provide a kind of planar track planning method of underwater unmanned vehicle formation in order to overcome the defect of the local optimum of deterministic algorithm and the poor optimization of random algorithm, which is a combination of static planning and dynamic programming, A safe, optimized, real-time trajectory planning solution combining position planning and speed planning

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  • An underwater unmanned vehicle formation plane track planning method
  • An underwater unmanned vehicle formation plane track planning method
  • An underwater unmanned vehicle formation plane track planning method

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Embodiment Construction

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

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

[0093] Step 1: Build a mission space model according to the environmental information database or the environmental information detected by sensors. Since the trajectory planning process is carried out in a 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 area is (x obstacle ,y obstacle ), with radius R obstacle , the puffing distance is d over-measure , whose model is attached figure 2 shown;

[0094] Step 2: Based on the static environment information, the improvement and fusion algorithm of Artificial Potential Field (APF) and Rapidly Expanding Random Tree (RRT) are used for gl...

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Abstract

The invention relates to a plane track planning method for an underwater unmanned vehicle formation, belonging to the technical field of unmanned underwater vehicle and track planning. It includes building a task space model based on the environmental information detected by the environmental information database or sensors; using the improvement and fusion algorithm of the APF algorithm and the RRT algorithm based on the static environmental information to carry out global trajectory planning; The environmental information is segmented for local planning. In the global planning algorithm, the present invention solves the target unreachable and local optimal problems of APF through a certain improvement scheme, improves the three characteristics of non-determination, non-optimal and slow convergence of RRT, and combines determinism and randomness. The combination of trajectory planning methods, the combination of static planning and dynamic planning, the combination of position planning and speed planning, the track reduction algorithm realizes the effect of further optimizing the track, and ensures the safety and the most efficient track planning of multiple underwater UAVs. Optimal and real-time task requirements.

Description

technical field [0001] The invention relates to a plane track planning method for an underwater unmanned vehicle formation, belonging to the technical field of unmanned underwater vehicle and track planning. Background technique [0002] Unmanned Underwater Vehicle (UUV) is a literal translation of the English word Unmanned Underwater Vehicle (UUV). It does not require the mother ship to provide energy supply and information guidance, relies on its own energy to provide power, and relies on automatic control technology for guidance to complete the expected tasks. Autonomous submersibles that work below the surface for long periods of time. Due to the complex, dangerous and full of unknown factors in the task execution environment, in order to ensure the safety of operators, unmanned aerial vehicles need to be used; at the same time, due to the delay in the communication process, and a considerable part of the tasks have high real-time requirements and require the use of unma...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 杜雪王昊严浙平赵璇张勋管凤旭徐健陈涛
Owner HARBIN ENG UNIV
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