Path planning obstacle avoidance control method for autonomous underwater vehicle in large-scale continuous obstacle environment

A technology for autonomous vehicles and path planning, which is applied in the directions of height or depth control, vehicle position/route/height control, non-electric variable control, etc. question

Active Publication Date: 2021-01-19
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, the density and viscosity of the fluid affect the movement of the underwater autonomous vehicle; the ocean current also has uncertain interference on the movement of the underwater autonomous vehicle

Method used

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  • Path planning obstacle avoidance control method for autonomous underwater vehicle in large-scale continuous obstacle environment
  • Path planning obstacle avoidance control method for autonomous underwater vehicle in large-scale continuous obstacle environment
  • Path planning obstacle avoidance control method for autonomous underwater vehicle in large-scale continuous obstacle environment

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specific Embodiment 1

[0091] according to Figure 1 to Figure 6 As shown, the present application provides a method for path planning and obstacle avoidance control of an underwater autonomous vehicle in a large-scale continuous obstacle environment, including the following steps:

[0092] A control method for path planning and obstacle avoidance of an underwater autonomous vehicle in a large-scale continuous obstacle environment, comprising the following steps:

[0093] Step 1: Establish the underwater autonomous vehicle model and kinematics model, and obtain information about obstacles around the underwater robot;

[0094] The step 1 is specifically:

[0095] Establish a 3-DOF underwater autonomous vehicle model and kinematics model on the horizontal plane, and set up seven obstacle avoidance sonars as S i , where, i=1,2,3...7, the sampling frequency of the ranging sonar is 2Hz, the detection distance is 150m, and the information of the obstacles around the underwater robot is obtained through ...

specific Embodiment 2

[0169] The invention discloses a path planning obstacle avoidance control that can be used for underwater autonomous vehicles in environments with large-scale continuous obstacles (such as rock walls in underwater canyon environments, channel waters, artificial canals, and walls in channel environments). system. The system is an end-to-end motion planning system, and the strategy is trained and optimized based on deep reinforcement learning algorithms. It takes the sensor information as the state input, and the underwater autonomous vehicle's navigation speed and yaw angular velocity as the action output. The main process of the underwater autonomous vehicle path planning and obstacle avoidance control system is as follows: firstly, a simulated training environment with large-scale continuous obstacles is established. The present invention takes a typical environment with large-scale continuous obstacles: underwater canyons as As an example, the rock wall of an underwater can...

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Abstract

The invention relates to a path planning obstacle avoidance control method for an autonomous underwater vehicle in a large-scale continuous obstacle environment. The invention relates to the technicalfield of underwater robot path obstacle avoidance planning, and the method comprises the steps: building a large-scale continuous obstacle simulation training environment, building the state and action of a deep reinforcement learning neural network through employing obstacle avoidance sensor information as the input and the navigation speed and yaw angular speed as the output, for a multi-targetstructure of a motion planning obstacle avoidance control process, performing modular design on a reward function, and in order to avoid system instability caused by sparse rewards, setting continuous rewards are set in combination with an artificial potential field method. According to the method, obstacle avoidance training is carried out on the autonomous underwater vehicle by utilizing an improved depth deterministic strategy gradient algorithm, and an obstacle avoidance strategy obtained by training is written into a robot lower computer control system; when the autonomous underwater vehicle runs in an underwater canyon, obstacle avoidance is carried out by using an obstacle avoidance strategy learned by training, and the autonomous underwater vehicle safely reaches a target area.

Description

technical field [0001] The invention relates to the technical field of underwater robot path obstacle avoidance planning, and relates to a path planning obstacle avoidance control method for an underwater autonomous vehicle in a large-scale continuous obstacle environment. Background technique [0002] The ocean is the cradle of human life, which contains abundant energy, biological resources and mineral resources. It has gradually become the consensus of people to go to the ocean. The ocean is not only related to the rise and fall of a country, but also closely related to the survival of human beings. With the needs of marine development and marine military applications, the research and development needs of underwater operation technology and operation equipment are becoming increasingly urgent. With the advancement of human science and technology, the exploration of the underwater world, marine environment detection and resource survey and monitoring have gradually become...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 孙玉山罗孝坤张国成冉祥瑞柴璞鑫薛源于鑫张红星
Owner HARBIN ENG UNIV
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