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An underwater fm2* path planning method fused with ocean current models

A path planning and sea current technology, applied in vehicle position/route/height control, instruments, control/regulation systems, etc., can solve the problems of suboptimal AUV planning path, influence of sea current, limited navigation speed, etc., to eliminate the negative effects of sea current effect of influence

Active Publication Date: 2022-04-19
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 the ocean current is affected during the navigation process, the invention provides an underwater FM2* path planning method that integrates the ocean current model

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  • An underwater fm2* path planning method fused with ocean current models
  • An underwater fm2* path planning method fused with ocean current models
  • An underwater fm2* path planning method fused with ocean current models

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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 that integrates the ocean current model. Firstly, each obstacle is regarded as a wave source, the T value of the grid is calculated, and the T* value is calculated by fusing the cost of reaching the target, and the FMM method is used to calculate the T* value of the AUV Carry out preliminary path planning so that the AUV can find a path to reach the target; and use the maximum speed at a safe distance to improve the efficiency of the AUV's mission; secondly, refer to the ocean current model and adjust the steering of the AUV at the starting point of the voyage to make it turn to the desired path direction; Finally, the attitude of the AUV is constantly adjusted in real time during the voyage to ensure that the AUV can still travel according to the desired route under the influence of ocean currents. The invention can realize safe obstacle avoidance, generate a smooth and shortest time path suitable for actual navigation, eliminate the negative influence of ocean currents, utilize ocean currents, have better real-time performance and higher navigation efficiency.

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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Patent Type & Authority Patents(China)
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