Multi-region traversal path planning method for autonomous underwater vehicle

An underwater vehicle, a technology for traversing paths, used in instruments, two-dimensional position/channel control, vehicle position/route/altitude control, etc.

Active Publication Date: 2020-03-31
OCEAN UNIV OF CHINA
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Problems solved by technology

[0004] Aiming at the defects existing in the prior art, the present invention proposes a multi-area traversal path planning method for an autonomous underwater vehicle, which solves the problem of optimal path planning between multiple mission areas. , by planning the optimal path, reducing task duration and improving task execution efficiency

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  • Multi-region traversal path planning method for autonomous underwater vehicle
  • Multi-region traversal path planning method for autonomous underwater vehicle
  • Multi-region traversal path planning method for autonomous underwater vehicle

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[0062] In order to have a clearer understanding of the above objects and advantages of the present invention, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0063] Such as figure 1 As shown, the autonomous underwater vehicle multi-area traversal path planning method proposed in this embodiment includes the following steps:

[0064] Step 1. Local area planning: generate local area paths based on the local area traversal method, and count all possible traversal starting points of each local area;

[0065] Step 2. Optimization: Based on the L-SHADE optimization method, analyze the optimal traversal sequence and the best traversal starting point for each local area;

[0066] Step 3. Path generation: Based on the obtained optimal traversal starting point position and optimal traversal order, combine the local traversal paths to generate an optimal traversal path.

[0067] 1. Local area planning:...

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Abstract

The invention discloses a multi-region traversal path planning method for an autonomous underwater vehicle, and the method comprises the steps: (1) generating a local region path based on a local region traversal method, and carrying out the statistics of all possible traversal starting points of each local region; (2) analyzing an optimal traversal sequence and an optimal traversal starting pointof each local area based on an L-SHADE optimization method; and (3) combining the local traversal paths according to the obtained optimal traversal starting point position and the optimal traversal sequence to generate an optimal traversal path. According to the scheme, the turning frequency of the underwater vehicle is effectively reduced through the optimization steps, so that the task execution process of the underwater vehicle is easier to control, and the posture is more stable. By constructing a fitness function and calculating and optimizing through an L-SHADE optimization method, it is guaranteed that the optimal region traversal sequence and the optimal local region traversal starting point are obtained, and in conclusion, the method is less affected by the position of the task starting point, is efficient and stable, and has high practical application value.

Description

technical field [0001] The invention relates to the technical field of underwater vehicle navigation, in particular to an autonomous underwater vehicle multi-area traversal path planning method. Background technique [0002] The path planning performance of autonomous underwater vehicle (AUV, Autonomous Underwear Vehicle) reflects the autonomy level of AUV, and the path planning problem has always been a hot issue in the field of AUV research. Traversal path planning is an important task in marine surveys, and the endurance of AUVs is the basic condition for completing the task. However, due to volume limitations, AUVs carry limited energy. Therefore, planning the most efficient navigation path and performing tasks with the lowest energy consumption will help reduce task execution time and alleviate the limitation of AUV energy shortage, which is of great importance for the practical application of AUVs. significance. [0003] Existing path planning methods include exact c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206Y02T10/40
Inventor 何波陈关忠沈钺王殿蕊孔祥瑞张意晓张文峰段香阳许晗
Owner OCEAN UNIV OF CHINA
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