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Multi-AUV task allocation and path planning method based on hexagonal grid map

A grid map and task assignment technology, applied in 3D position/channel control, navigation calculation tools, etc., can solve problems such as suboptimal paths and sharp turns, achieve path smoothing, improve efficiency, and improve path practicability Effect

Active Publication Date: 2020-06-19
HOHAI UNIV
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Problems solved by technology

[0003] Purpose of the invention: In order to solve the problem of path suboptimality and the problem of path sharp turn that exist in multi-AUV system task allocation and path planning in the prior art, the present invention provides a method based on Multi-AUV task assignment and path planning method based on hexagonal grid map

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  • Multi-AUV task allocation and path planning method based on hexagonal grid map

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[0041] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0042] like figure 1 As shown, a multi-AUV task assignment and path planning method based on a hexagonal grid map combines SOM and A* algorithm, optimizes the path, and plans the path on the basis of the hexagonal grid map. First, the SOM algorithm is used for task allocation, such as figure 2 shown. Initialize the weight vector, select the input vector (target point position), match the output vector (AUV position) with the smallest Euclidean distance for each input vector, and ensure that each target has a corresponding AUV for capture. Second, construct a hexagonal raster map such as image 3 As shown, the AUV navigation path is obtained by using the A* algorithm. Among them, F and G are the corresponding variables in the cost estimation function, the grids that may pass through are stored in the openlist (open list), and the grids that...

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Abstract

The invention discloses a multi-AUV task allocation and path planning method based on a hexagonal grid map. The method comprises the steps of firstly carrying out the task allocation of a multi-AUV multi-target system through an SOM method, and guaranteeing that each target is captured by one AUV, secondly, constructing a hexagonal grid map for the environment, and preliminarily obtaining an AUV navigation path by adopting an A* algorithm based on the hexagonal grid map, and finally, optimizing the obtained path, so that the path is simplified and smoothened, and a final path is generated. According to the method, the task allocation problem of the multi-AUV system is solved, the efficiency of the A* algorithm is improved by introducing the hexagonal grid map, the path obtained by the traditional A* algorithm is shortened, the path smoothing is realized, and the possible sharp turn problem in the actual navigation of the AUV is avoided.

Description

technical field [0001] The invention relates to a path planning method, in particular to a multi-AUV task assignment and path planning method based on a hexagonal grid map. Background technique [0002] There are many classic algorithms in the path planning of autonomous underwater vehicles (AUV, Autonomous Underwater Vehicle). In recent years, due to the development of artificial intelligence, more and more researches have introduced neural networks into the path planning of AUVs. , making the path of AUV navigation more and more accurate. Among them, the self-organizing map (SOM, Self-OrganizingMap) method has been widely used, and it has superior autonomy and competition, but the SOM method cannot achieve safe and effective obstacle avoidance, and there is a problem of speed jump. In addition, the A* (A-Star) algorithm has also been widely used. In the path planning of AUV, it performs well, and has great advantages in speed and admissibility. However, the square grid a...

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Application Information

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IPC IPC(8): G01C21/20G05D1/10
CPCG01C21/20G05D1/10
Inventor 黄浩乾沈寒伊唐家成伍光胜张国禄
Owner HOHAI UNIV
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