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Local path planning method for wave glider

A technology of local path planning and glider, which is applied in the direction of instruments, vehicle position/route/altitude control, non-electric variable control, etc., to achieve the effect of improving navigation efficiency, smooth path and continuous path

Pending Publication Date: 2020-08-11
OCEAN UNIV OF CHINA +1
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AI Technical Summary

Problems solved by technology

The path planned by the artificial potential field method is generally smooth and safe, but this method has a local optimal point problem

Method used

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  • Local path planning method for wave glider
  • Local path planning method for wave glider
  • Local path planning method for wave glider

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Embodiment Construction

[0016] The present invention uses the artificial potential energy field algorithm to carry out local path planning, and the purpose is to provide a local path for the navigation observation of the wave glider. Through the local path planning method, the expected course of the wave glider is obtained, so that the navigation path of the wave glider is smooth and continuous. And the present invention has the advantage of avoiding falling into local optimum.

[0017] Wave glider devices such as figure 1 As shown, the wave glider is a two-body structure, and the communication system and the sensor system are loaded on the floating body, and the tractor uses the buoyancy provided by the floating body to drive it forward by waves. When the wave glider needs to perform navigation tasks, the wave glider obtains the current position through the GPS module on the floating body ship, communicates through the shore-based monitoring system, and obtains the position information of the target...

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Abstract

The invention discloses a local path planning method for a wave glider and particularly relates to the field of autonomous navigation observation of the wave glider. The wave glider is an unmanned autonomous vehicle which converts wave fluctuation into forward power by utilizing a special double-body structure of the wave glider. The wave glider is advantaged in that aiming at a wave glider to execute a sailing observation task, a local path is obtained by utilizing an artificial potential energy field algorithm, and the wave glider is smooth and continuous, a local optimal point is avoided, and task execution efficiency is improved.

Description

technical field [0001] The invention relates to a local path planning method of a wave glider, in particular to the field of autonomous navigation observation of a wave glider. Background technique [0002] The wave glider is an unmanned autonomous vehicle that uses its special double-body structure to convert wave undulations into forward power. It is mainly composed of three parts: floating body vessel, umbilical cable and traction machine. The multi-rigid body structure composed of the above three parts is used to convert wave energy into forward power, and the solar panels on the floating body ship are used to provide energy supply for the navigation, communication and motion control modules of the wave glider. It has the functions of long-term continuous navigation, autonomous navigation and positioning, artificial intelligence identification, etc., and can realize continuous navigation of 10,000 kilometers in one year at a speed of 0.5-1 m / s without energy supply, the...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 孙秀军桑宏强周莹
Owner OCEAN UNIV OF CHINA
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