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Online path planning method for auv based on fully oscillating invasive weed optimization algorithm
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An optimization algorithm and path planning technology, applied in two-dimensional position/channel control, vehicle position/route/altitude control, instruments and other directions, which can solve the problem that the real-time performance of path planning and path optimality cannot be satisfied at the same time, and online is not considered. Path planning, high cost and high cost, to prevent falling into local optimum, improve the progress of optimization, and achieve good real-time performance
Active Publication Date: 2022-05-17
NAVAL UNIV OF ENG PLA
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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
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[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 appropriate full-oscillating invasive weed optimization algorithm parameters according to the current online path planning requirements...
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 Gaussiannoise 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...
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Abstract
The invention discloses an AUV online path planning method based on a full oscillation type invasive weed optimization algorithm in a dynamic ocean environment. Aiming at the online dynamic path re-planning problem of autonomous underwater vehicle (AUV), this method proposes a re-planning strategy using a full-oscillating invasive weed optimization algorithm. Firstly, the dynamic ocean current model, obstacle model and enemy threat model are established and analyzed, and then the path cost function is proposed. The current environmental information is updated through the environmental information regularly monitored at a certain interval, and the strategy of reusing the historical optimal path information is combined. , using a full-oscillating invasive weed optimization algorithm for online dynamic programming for AUVs. Taking the shortest sailing time and threat time of AUV as the optimization goal, a feasible path is planned for AUV in the three-dimensional and dynamic naval battlefield environment. The results show that the method of the present invention can successfully and efficiently plan the path for the AUV online during navigation.
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...
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