Underwater FM2 * path planning method fused with ocean current model

A path planning and ocean current technology, applied in vehicle position/route/altitude control, non-electric variable control, instruments, etc., to solve problems such as ocean current effects, limited sailing speed, and sub-optimal AUV planning paths

Active Publication Date: 2020-10-30
HOHAI UNIV
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Problems solved by technology

[0006] Purpose of the invention: In order to solve the problems in the prior art that the AUV planning path is suboptimal, the navigation speed is limited, and t

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  • Underwater FM2 * path planning method fused with ocean current model
  • Underwater FM2 * path planning method fused with ocean current model
  • Underwater FM2 * path planning method fused with ocean current model

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Embodiment Construction

[0044] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0045] like figure 1 As shown, an underwater FM2* path planning method that integrates the ocean current model introduces the ocean current model on the basis of optimizing the FMM method, making the path planning method more suitable for the underwater environment. First, each obstacle is regarded as a wave source, and the grid T value is calculated by the Eikonal equation. The farther away from the obstacle, the larger the T value, such as figure 2 As shown; secondly, the T* value is calculated by combining the maximum allowable speed of the AUV, and then the path planning is carried out according to the FMM method, that is, the smaller T* value is selected as the next navigation direction each time; in this path, the points within the safe distance adopt The scaled speed of the potential field diagram of multi-source point wave expansion, ...

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Abstract

The invention discloses an underwater FM2 * path planning method fused with an ocean current model. The method comprises the steps: firstly, enabling each obstacle to be regarded as a wave source, calculating a grid T value, calculating a T * value through the fusion of the cost of reaching a target, carrying out the preliminary path planning of an AUV through an FMM method, and enabling the AUV to find one path to reach the target; using the maximum speed beyond the safe distance to improve the task execution efficiency of the AUV; secondly, referring to an ocean current model, and adjustingAUV steering at a navigation starting point to enable the AUV to turn to an expected path direction; and finally, continuously adjusting the posture of the AUV in real time in the navigation process,and guaranteeing that the AUV can still run according to the expected route under the influence of ocean currents. According to the invention, safe obstacle avoidance can be realized, a smooth shortest-time path suitable for actual navigation is generated, the negative influence of ocean current is eliminated, the ocean current is utilized, the real-time performance is better, and the navigation efficiency is higher.

Description

technical field [0001] The invention relates to a path planning method, in particular to an underwater FM2* path planning method combined with an ocean current model. Background technique [0002] For the path planning of an autonomous underwater vehicle (AUV, Autonomous Underwater Vehicle), there are many methods. Dijkstra and A* algorithms have been widely used, but the paths planned by the two are often not smooth and not suitable for actual navigation. In addition, the artificial potential field method is also an algorithm that is widely used, but the artificial potential field method may have a local minimum value. When the path planning falls into the local minimum value, a feasible path cannot be found. The above methods often plan a path close to the optimal distance, rather than a path close to the optimal time. In actual navigation, especially when the AUV captures the target, it is necessary to plan a path with the optimal time. [0003] As long as there is a pa...

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 黄浩乾沈寒伊金元锋唐家成王超
Owner HOHAI UNIV
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