Multi-AUV three-dimensional collaborative route planning method

A route planning and route technology, applied in navigation, mapping and navigation, navigation calculation tools, etc., can solve the problem of not considering multiple AUV collaborative route research and other issues

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

Patent CN201810519546.6 discloses a UUV path planning method based on multi-objective optimization of energy consumption and sampling volume under the influence of complex marine environments. The marine environmental information considered is only ocean currents, and marine environmental information such as temperature and salinity are not considered.
Patent CN201610887874.2 discloses a time-optimal route plannin...

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  • Multi-AUV three-dimensional collaborative route planning method
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  • Multi-AUV three-dimensional collaborative route planning method

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Embodiment Construction

[0059] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0060] A multi-AUV three-dimensional collaborative route planning method of the present invention, the steps mainly include:

[0061] Step 1: Construct the 3D route planning environment space based on the electronic chart and current, temperature, salinity and depth information, and establish the terrain field, current field and concealment field; carry out the abstract modeling of the 3D environment and the initialization of the level set function, and the level set The function is initialized as a circular function with the starting point as the center and r as the radius, and an appropriate narrow band width d is set to make the level set function evolve within the narrow band.

[0062] Step 2: Level set function evolution. The level set function evolves under the joint influence of the AUV's own speed, ocean current speed and concealmen...

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Abstract

The invention discloses a multi-AUV three-dimensional collaborative route planning method. The method mainly comprises the steps of three-dimensional environment abstract modeling, level set functioninitialization, level set function evolution, optimal route point selection, collaborative route scheme design, route conflict judgment and re-planning and planning result output. According to the invention, the level set algorithm is improved; a plurality of airways can be simultaneously planned in a navigation space, thereby improving planning efficiency of algorithms, all AUVs are required to reach the end point at the same time during collaborative scheme design; each AUV needs to start one by one according to delay time, in addition, under the condition of considering rapidity and concealment, a collaborative planning scheme with the concealment and navigation time fused optimally is designed, the influence of ocean current and sound velocity factors is considered at the same time, conflict judgment and re-planning links are added, and a collaborative route is safer; compared with two-dimensional air route planning, the implementation of the three-dimensional air route planning ismore practical, and the actual navigation requirement can be better met.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional path planning of underwater submersibles, and relates to a multi-AUV three-dimensional collaborative route planning method, in particular to a multi-AUV three-dimensional collaborative route planning method considering the influence of the marine environment. Background technique [0002] At present, most of the research is limited to the route planning problem of a single AUV, and there is a lack of research on the multi-route collaborative planning problem from multiple origins to multi-destinations under the influence of the marine environment. In the actual situation, in order to improve the completion rate of the task, all AUVs need to reach the multi-task point at the same time. At this time, how to generate an effective route for each AUV and coordinate the arrival time of each AUV is one of the prerequisites for completing the task. Due to the needs of practical applications, th...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/203Y02A90/10
Inventor 刘厂刘瑞航盛亮张志强高峰靳光强赵艳玲
Owner HARBIN ENG UNIV
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