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Path planning method of autonomous underwater robot based on multi-target improved particle swarm optimization

An underwater robot and particle swarm algorithm technology, applied in the direction of height or depth control, can solve the problems of long planning time, slow convergence speed, falling into local optimum, etc., to increase diversity, accelerate algorithm convergence, and avoid large angle changes Effect

Pending Publication Date: 2022-07-12
QINGDAO UNIV OF SCI & TECH
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Problems solved by technology

[0006] In view of the disadvantages of the standard particle swarm algorithm in the path planning method for autonomous underwater vehicles, such as long planning time, slow convergence speed, and easy to fall into local optimum, and some existing path planning methods only consider single objectives such as path length, ignore Influenced by factors such as the maneuverability of the underwater robot, path safety, and path smoothness, an autonomous underwater robot path planning method based on multi-objective improved particle swarm is proposed

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  • Path planning method of autonomous underwater robot based on multi-target improved particle swarm optimization
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  • Path planning method of autonomous underwater robot based on multi-target improved particle swarm optimization

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[0051] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0052] like figure 1 As shown, a path planning method for an autonomous underwater robot based on a multi-objective improved particle swarm algorithm of the present invention includes the following steps:

[0053] Step 1: Environment modeling for autonomous underwater robot path planning problem

[0054](1) Environmental modeling of path planning problems

[0055] The environment for path planning is set to three-dimensional space, and the global coordinate system O-XYZ of the environment map is established; obstacles are represented by regular balls and cuboids, P 0 As the starting point of underwater robots, P N is the target point of the underwater robot; the path of the underwater robot can be represented in the three-dimensional environm...

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Abstract

The invention relates to a path planning method of an autonomous underwater robot based on a multi-objective improved particle swarm algorithm. The method comprises the following steps: modeling a path planning problem environment of the autonomous underwater robot; initializing parameters of the multi-objective improved particle swarm algorithm; optimizing the path by a multi-objective improved particle swarm algorithm; and outputting the optimal path. According to the method, a mutation operator is introduced on the basis of a standard particle swarm algorithm, the algorithm is prevented from falling into local optimum, the planning time is effectively shortened by utilizing an adaptive inertia weight coefficient and a dynamically adjusted learning factor, the influence of factors such as the path length, the path safety and the path smoothness is comprehensively considered, large rotation angle change is avoided, and the planning precision is improved. Safe and economical autonomous navigation is realized, and the method can be applied to an autonomous navigation system of an autonomous underwater robot.

Description

technical field [0001] The invention relates to the field of autonomous underwater robot path planning, in particular to a path planning method of an autonomous underwater robot based on a multi-objective improved particle swarm algorithm. Background technique [0002] Autonomous underwater vehicles (AUVs) are widely used in military and civilian fields, such as mine clearance, ocean sampling, geological sampling, and seafloor exploration. It integrates technologies such as communication, networked system, information fusion and intelligent control, and can realize functions such as autonomous navigation and intelligent obstacle avoidance. Among them, automatic path planning is the core content of the autonomous navigation system of autonomous underwater robots. [0003] At present, there are many path planning methods for autonomous underwater robots. Swarm intelligence algorithms such as standard particle swarm optimization and genetic algorithm are often used for path pla...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 王龙金何燕展邦顺
Owner QINGDAO UNIV OF SCI & TECH
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