AUV slack trajectory planning method

Abstract

The invention discloses an AUV slack trajectory planning method. The method comprises the following steps of dividing a global planning route into a plurality of sub-route segments according to a set route length, determining a starting point, an ending point and a path planning space range of the local path planning, determining to execute path planning or trajectory planning according to whether a moving obstacle exists in the current local environment, using a self-adaptive differential evolution particle swarm optimization algorithm for completing local path planning, and acquiring a middle path point sequence and expected navigational speed for reaching each middle path point, determining a current sub-target point, and resolving an expected course and an expected depth of the AUV, outputting a course instruction, a depth instruction and a navigational speed instruction, and driving the AUV to navigate, and executing the method until the end. The method can adapt to the dynamic change of obstacle distribution of the local environment around the AUV, and can determine to execute path planning or trajectory planning according to whether a moving obstacle exists in the local environment around the AUV, thereby weighing the effectiveness requirement and the rapidity requirement of local online path planning.

Description

technical field [0001] The invention relates to an AUV relaxation trajectory planning method, in particular to an AUV relaxation trajectory planning method based on adaptive differential evolution particle swarm optimization, and belongs to the technical field of autonomous underwater vehicle intelligent control. Background technique [0002] Autonomous Underwater Vehicle (AUV) is a kind of underwater unmanned working platform with its own energy and capable of autonomous navigation, independent decision-making and control. It is an effective tool to assist human beings in exploring and developing the ocean. These fields are playing an increasingly important role and have broad development prospects. [0003] When an AUV performs a specific task, it uses the global path planning as the basic guidance information to navigate to the target position. However, due to the complexity, unknown, uncertainty and non-structural nature of the marine environment, the global path plannin...

AI Technical Summary

Problems solved by technology

[0004]Patent ZL201610133445.6 discloses an intelligent vector field histogram collision avoidance method, which can solve the real-time underwater obstacle avoidance problem of AUV, but this method belongs to an emergency Responsive collision avoidance method is not suitable for deliberate motion planning in the case of complex distribution of obstacles

[0005]Patent CN201911307896.7 discloses a path planning method for a robot under a tree. Through the combination of Dubins curve and genetic algorithm, the path planning of AUV is realized, but this method only Suitable for two-dimensional path planning, not suitable for AUV movement in underwater three-dimensional space

[0006] Patent ZL201410121156.5 discloses a AUV three-dimensional route planning method based on the improved firefly algorithm, which can solve the underwater three-dimensional space path planning problem suitable for AUV, but the The method does not take into account the presence of moving obstacles underwater

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