Multi-underwater glider path planning system based on optimal energy consumption

Abstract

The invention discloses a multi-underwater glider path planning system based on optimal energy consumption. The multi-underwater glider path planning system comprises an underwater glider energy consumption design module used for calculating energy consumption of underwater gliders in a single gliding period; an underwater glider global path planning module which is used for acquiring a path point set through which the underwater gliders need to pass in the whole voyage, and acquiring the path of each underwater glider according to the path point set when the total energy consumption is lowest; and an underwater glider local path planning module which is used for performing collision judgment according to the path of each underwater glider, recalculating the path point of any underwater glider according to an artificial potential field method if collision occurs, and sailing according to the recalculated path point until the recalculated path point coincides with the path point in the path. According to the invention, the path planning requirement of the underwater glider cluster for carrying out three-dimensional ocean observation can be met, meanwhile, the penalty function is adopted to realize the obstacle avoidance function, and the artificial potential field method is adopted to solve the collision avoidance problem of multiple underwater gliders in a local area.

Description

technical field [0001] The invention relates to the field of underwater glider path planning, in particular to a multi-underwater glider path planning system based on optimal energy consumption. Background technique [0002] In today's era, marine resources are getting more and more attention from all countries. Underwater glider is an important tool for people to explore, develop and utilize the ocean because of its miniaturization, light weight, and intelligence. The path planning, coordination and control of underwater gliders is a new research topic in many aspects. In the process of autonomous navigation of underwater glider, due to the difficulty of breaking through the real-time communication technology at sea and underwater, path planning at this stage is very important for the safety of underwater glider navigation and energy saving. Therefore, it is necessary to design a path planning method for underwater glider clusters based on optimal energy consumption. [...

AI Technical Summary

Problems solved by technology

[0004] First, the existing research results are only applicable to the path planning of a single underwater glider, and the path planning method for underwater glider clusters is not considered

[0005] Second, the existing research results have studied the problem of the shortest navigation path of underwater glider swarms, but they have not comprehensively considered special issues such as the influence of ocean currents and obstacle avoidance and collision avoidance for the characteristics of low speed and weak navigation of underwater glider swarms, which cannot meet the requirements of underwater glider swarms. Actual demand for coordinated observation of glider cluster network

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