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AUV three-dimensional airway planning method

A route planning, three-dimensional technology, applied in navigation, mapping and navigation, navigation calculation tools, etc., to achieve the effect of improving planning speed and planning quality, strong overall, and improving practicability

Active Publication Date: 2020-06-19
HARBIN ENG UNIV
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AI Technical Summary

Problems solved by technology

The present invention improves the quantum particle swarm algorithm, takes into account the influence of ocean currents on the AUV, and applies the improved quantum particle swarm algorithm to the three-dimensional ocean environment for path planning. At present, there is no published literature to apply the quantum particle swarm algorithm 3D route planning

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  • AUV three-dimensional airway planning method

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Embodiment Construction

[0053] The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0054] The steps of the present invention mainly include:

[0055] Step 1: 3D environment modeling and initialization of particle positions. According to the position of the starting point and the end point in the space, the scope of the navigation space is planned, and the particles are randomly distributed in the non-obstacle area to improve the convergence speed.

[0056] Step 2: Enter the penalty value setting of the obstacle. The penalty value in the obstacle is set to gradually decrease from the center position to both ends, so as to ensure that the particles can escape from the local optimum during the update process.

[0057] Step 3: Calculate the objective function value. The objective function value is composed of two parts, namely, energy consumption of the route and the penalty value of entering obstacles. Route energy cons...

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Abstract

The invention discloses an AUV (Autonomous Underwater Vehicle) three-dimensional airway planning method, which improves the planning speed and planning speed of an algorithm by improving a particle initialization method, setting a punishment value for entering an obstacle and setting the step length of an added particle moving position. The method mainly comprises the steps of three-dimensional environment abstract modeling, particle position initialization, punishment value setting of entering obstacles, cost function value calculation, particle movement step length setting, cost value comparison of a particle swarm, particle position updating and planning result output. Compared with a traditional quantum particle swarm airway planning algorithm, the three-dimensional airway planning method provided by the invention considers the influence of ocean current factors, so that the algorithm application is wider; meanwhile, compared with two-dimensional air route planning, three-dimensional air route planning is more practical, and the actual navigation requirement can be better met.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional route planning of underwater submersibles, and relates to a three-dimensional route planning method for an AUV, in particular to a three-dimensional route planning method for an underwater submersible based on an improved quantum particle swarm algorithm. Background technique [0002] The ocean accounts for about 71% of the earth's surface area, storing huge resources, not only rich biological resources and water resources, but also inestimable mineral resources such as underwater oil. With the continuous development of human beings, land resources tend to be exhausted, and marine resources have gradually become the focus of human development. Therefore, the development and utilization of the ocean has become the strategic focus of various countries, and has also become an important field of high-tech research. Autonomous Underwater Vehicle (AUV) refers to a new type of underwater carri...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/203Y02A90/10
Inventor 刘厂刘瑞航盛亮张志强高峰靳光强
Owner HARBIN ENG UNIV
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