Heuristic algorithm-based underwater glider path planning method

Abstract

The invention relates to a heuristic algorithm-based underwater glider path planning method. The method comprises the following steps of performing rasterization processing on an underwater environment: dividing the underwater environment into grids, performing environment modeling, and distinguishing a feasible region and an obstacle region, wherein the grids located in the feasible region are called feasible grids and represented by 0, and the grids located in the obstacle region are called obstacle grids and represented by 1; performing population initialization; performing crossover operation on individuals in a population; performing mutation operation; calculating fitness values of the individuals in the population, and performing selection operation; after the crossover and mutationare finished, calculating the fitness values of the individuals, and selecting reserved individuals by adopting a roulette mechanism, wherein the higher the fitness is, the easier the reservation is;and in addition, performing elite reservation before the selection operation, namely selecting the individual with the highest fitness in the population and directly adding the selected individual tothe next generation of population, thereby ensuring that an optimal solution always exists; and performing pheromone concentration updating.

Description

technical field [0001] The invention belongs to the field of autonomous control of unmanned aerial vehicles, and relates to a path planning method for an underwater glider based on a heuristic algorithm. Background technique [0002] Recently, with the development of science and technology and the gradual deepening of people's understanding of the importance of the ocean, many advanced equipment and instruments have been put into the field of ocean exploration and development, the representative of which is the underwater glider. At present, underwater gliders have been widely used in marine resources exploration and other fields. More and more scientists and technicians have begun to pay attention to underwater gliders and conduct in-depth research on them. Path planning technology is a key part of underwater glider technology, which finds a feasible path for the underwater glider to move from the starting node to the target node in an environment with obstacles. In fact, ...

AI Technical Summary

Problems solved by technology

The heuristic algorithm can ensure that the optimal solution of the problem is found according to the given constraints in small-scale scenarios, but the heuristic algorithm in large-scale scenarios converges slowly and is also prone to premature convergence, and cannot guarantee that the obtained solution is the global optimal solution , if you want to improve the quality of the solution, you need to expand the search space of the algorithm, which makes the convergence speed slower and greatly reduces the efficiency of the algorithm

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