An AUV Target Search Method
A target search and target technology, applied in the process of AUV target search, based on the field of target search algorithm based on improved attraction source, can solve the problem of unable to solve the problem of target position search, to prevent repeated search, improve the release mechanism, and reduce the amount of calculation Effect
Active Publication Date: 2022-07-15
HARBIN ENG UNIV
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But this algorithm cannot solve the search situation where the target position and state are unknown
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[0059] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.
[0060] In the present invention, in an unknown underwater environment, the AUV is equipped with a detection sonar, and the target search algorithm based on the improved attraction source completes the shortest time search task.
[0061] The present invention is realized in this way:
[0062] 1. Establishment of sonar detection model
[0063] Due to the large range of the search area, the algorithm proposed in the present invention regards both the target and the AUV as particles. In an unknown underwater environment without prior information, AUV obtains real-time underwater target information and surrounding environment information through sonar sensors, and creates and updates an environment-aware map in real time according to the information obtained by sonar.
[0064] 2. The establishment of environmental awareness map
[0065] The inve...
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The invention proposes and discloses an AUV target search method, which includes the establishment of a sonar detection model, the establishment of an environment perception map, and a target search method based on an improved attraction source. The invention detects the surrounding environment information in real time through the sonar sensor in the unknown underwater environment without prior information, creates and updates various environment perception maps, improves the release mechanism of pheromone, and enables the AUV to cover a larger search area in the case of In order to avoid missing the target due to the problem of detection probability, prevent the AUV from repeating the search in the searched area, set the attraction source to be activated in each diagonal corner of the search area, and activate the attraction source to be activated by activating the attraction source. It is easy to search for the targets in the corners, formulate the update formula of each environment-aware map and the search profit function, so that the AUV can make the most profitable mobile decision, and improve the search efficiency while ensuring the reliability and stability of the search.
Description
technical field [0001] The invention relates to the field of underwater target search, relates to an AUV target search method, and in particular relates to a target search algorithm based on an improved attraction source, which can be applied to the AUV target search process in unknown underwater environments. Background technique [0002] With the rapid development of modern science and technology, human beings are increasingly dependent on marine resources. However, due to the complex and changeable marine environment and low underwater visibility, human exploration of the ocean has become extremely challenging. In recent years, due to the technical characteristics of integrating high-tech means, such as autonomous underwater vehicles (Autonomous Underwater Vehicles, AUVs) with good concealment, flexibility of underwater movement, and economical applicability, they have been widely used in various fields. extensive attention. [0003] Aiming at the problem of target searc...
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IPC IPC(8): G01S15/88G06N3/04G06N3/06G06N3/08
CPCG01S15/88G06N3/06G06N3/08G06N3/04
Inventor 李娟张栩陈兴华徐健王宏健
Owner HARBIN ENG UNIV