Unlock instant, AI-driven research and patent intelligence for your innovation.

AUV online path planning method based on full-oscillation type invasive weed optimization algorithm

An optimization algorithm and path planning technology, applied in two-dimensional position/channel control, vehicle position/route/height control, non-electric variable control, etc. It does not consider the problems of online path planning and high cost, so as to prevent falling into local optimum, improve the progress of optimization, and achieve good real-time performance

Active Publication Date: 2021-06-11
NAVAL UNIV OF ENG PLA
View PDF2 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the above methods have certain advantages, they all adopt the reactive re-planning path planning method, which leads to the inability to satisfy the real-time performance and path optimality of path planning at the same time, and does not consider the changes in the naval battlefield environment including dynamic ocean currents. Online Path Planning under
[0004] During the AUV's mission, the online real-time planning method that uses real-time monitoring of dynamic environmental information to frequently update the AUV's navigation path is computationally intensive and expensive

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • AUV online path planning method based on full-oscillation type invasive weed optimization algorithm
  • AUV online path planning method based on full-oscillation type invasive weed optimization algorithm
  • AUV online path planning method based on full-oscillation type invasive weed optimization algorithm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach

[0092] As an implementation, in the full oscillating invasive weed optimization algorithm, the position information carried by the jth weed is a j =(θ 1j ,θ 2j ,…,θ (n-2)j ), θ 1j …theta (n-2)j Respectively represent the angle values ​​corresponding to the n-2 path control points carried by the jth weed except the starting point and the ending point;

[0093] Select the optimal solution of the global planning as the initial solution of the first re-planning, and set the initial solution of the global planning as a best =(θ 1 ,θ 2 ,…,θ n-2 ), then the initial solution of the first reprogramming It can be expressed as:

[0094]

[0095] The initial solution of the kth re-planning is expressed as:

[0096]

[0097] The method for initializing the full-oscillating invasive weed optimization algorithm in step 3 is to set and select the appropriate full-oscillating invasive weed optimization algorithm parameters according to the current online path planning requirem...

Embodiment 1

[0162] Set the center coordinates of the horizontal plane of the no-navigation zone ((133230m, 25400m) and the radius of the no-navigation zone (30m), move randomly under the normal distribution Gaussian noise disturbance, and the noise amplitude is 0.1.

[0163] When the enemy threat is single-platform combat, it is assumed that the combat platforms are surface ships and submarines.

[0164] Set the initial parameters of the surface ship: the deployment position is (132950m, 25440m, -10m), the maximum detection distance is 80m, the detection azimuth range is (0,360°), the detection height angle range is (0,180°), the maximum damage The distance is 30m.

[0165] Set the initial parameters of the submarine: the deployment position is (133150m, 25430m, -130m), the maximum detection distance is 80m, the detection azimuth range is (30,180°), the detection height angle range is (0,90°), the maximum The killing distance is 80m.

[0166] Set the number of iterations of the path pla...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an AUV online path planning method based on a full-oscillation type invasive weed optimization algorithm in a dynamic marine environment. Aiming at the online dynamic path re-planning problem of an autonomous underwater vehicle, the invention provides a re-planning strategy adopting a full-oscillation type invasive weed optimization algorithm. Firstly, a dynamic ocean current model, an obstacle model and an enemy threat model are established and analyzed, then a path cost function is put forward, current environment information is updated through environment information periodically monitored at certain intervals, a strategy of reusing historical optimal path information is combined, so that the path cost function is established, and online dynamic planning on the AUV by adopting a full-oscillation-based invasive weed optimization algorithm is adopted. The shortest navigation time and threat time of the AUV are taken as optimization targets, and a feasible path is planned for the AUV in a three-dimensional and dynamic sea battlefield environment. Results show that the method provided by the invention can successfully and efficiently plan the path on line for the AUV in the navigation process.

Description

technical field [0001] The invention relates to the field of AUV path planning and intelligent optimization algorithms, in particular to an AUV online path planning method based on a full-oscillating invasive weed optimization algorithm in a dynamic marine environment. Background technique [0002] The dynamic marine environment poses great challenges to AUV path planning, such as temporal and spatial changes in ocean currents, moving obstacles, and sudden enemy threats, so online path planning is a continuous and dynamic process that requires the AUV path planner to During the task, the previously calculated path is continuously calculated and improved to generate the best path under the current environment state. [0003] Due to the limitation of the detection range of the AUV sonar sensor and the speed of the AUV, the current online path planning for the AUV in the dynamic marine environment is mainly aimed at emergencies that require emergency treatment such as the emerg...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 赵苗高永琪马威强王鹏张洪刚陆泽平
Owner NAVAL UNIV OF ENG PLA