Ocean information acquisition method and device based on ocean heterogeneous unmanned ship system

Abstract

The invention provides an ocean information collection method and device based on an ocean heterogeneous unmanned ship system, and the system method comprises the steps: determining the number of AUVs in a set sea area and the placement coordinates of subsurface buoys, and carrying out the regional division of the distribution of the subsurface buoys; determining a sequence of subsurface buoy coordinates of the USV traversing all the divided areas, and a position for laying the AUV; after the subsurface buoy dives, determining an optimal heaving path of the AUV under the condition of different target diving depths by considering kinematics limitation; according to the positions of the subsurface buoys and the related data collected by each subsurface buoy, path planning of each area is determined; and after the AUV floats to the water surface, the USV recycles the AUV and returns. The task of collecting the shortest path is achieved, and the problem of path redundancy caused by turning limitation in traditional path planning is effectively avoided.

Description

Technical Field

[0001] Embodiments of the present application relate to marine information acquisition technology, especially a heterogeneous marine robot system that uses an Unmanned Surface Vehicle (USV) and an Autonomous Underwater Vehicle (AUV) to work together, for efficiently acquiring marine environmental information. Background Art

[0002] With the rapid development of marine science and technology, the real-time acquisition and transmission of marine information has become an important research direction. In traditional marine information acquisition methods, it usually relies on a single device or manual operation, and this method has problems such as low efficiency, limited coverage, and insufficient real-time performance. In addition, due to the complex and changeable marine environment, problems such as communication limitations and path planning affected by obstacles make the existing technologies face many challenges in wide-area and efficient acquisition of marine data.

[0003] In recent years, the development of unmanned systems such as Unmanned Surface Vehicles (USVs) and Autonomous Underwater Vehicles (AUVs) has provided new solutions for marine information acquisition. However, in the collaborative work of multiple devices, task allocation, path optimization, improvement of information acquisition efficiency, reduction of communication constraints, etc. are still technical problems that need to be solved. Unfortunately, there are currently no relevant technical solutions for reference. Summary of the Invention

[0004] The present application provides a marine information acquisition method and device based on a marine heterogeneous unmanned boat system to at least solve the above technical problems existing in the prior art.

[0005] According to a first aspect of the present application, there is provided a marine information acquisition method based on a marine heterogeneous unmanned boat system, the method comprising: Determine the number of Autonomous Underwater Vehicles (AUVs) and the placement coordinates of buoys in a set sea area, and divide the distribution of the buoys into regions; Determine the sequence of buoy coordinates for the Unmanned Surface Vehicle (USV) to traverse all the divided regions, and the positions for deploying the AUVs; After the buoys are submerged, determine the optimal heave path of the AUV considering kinematic constraints under different target diving depths; Determine the path planning for each region according to the buoy positions and the relevant data collected by each buoy; When the AUV floats to the water surface, the USV retrieves the AUV and returns.

[0006] In some alternative embodiments, the determining the sequence of buoy coordinates for the Unmanned Surface Vehicle (USV) to traverse all the divided regions, and the positions for deploying the AUVs, includes: Divide the area according to the horizontal coordinates of the moored buoys; Randomly select the horizontal coordinates of a moored buoy from each divided area to form a set of coordinate sets with the USV shore base, and determine the non-closed sequence from the shore base to each divided area; solve the traveling salesman problem to obtain the optimal sequence of this set of coordinate sets; obtain a series of optimal sequences by traversing all points in all divided areas, and compare the path lengths of each group of sequences to obtain the optimal sequence for deploying the AUV; Based on the optimal sequence, when the USV is sailing towards the next moored buoy, deploy the AUV when the horizontal distance between the USV and the moored buoy reaches the set distance range.

[0007] In some alternative embodiments, the determination of the optimal heave path of the AUV considering kinematic constraints under different target diving depths includes: Control the AUV to dive along a spiral trajectory with a fixed pitch angle. After determining that it is close to the target depth of the AUV, control the AUV to dive along a parabolic trajectory. After reaching the target depth, adjust the pitch angle of the AUV to 0. If the AUV has not reached the information collection range of the moored buoy, control the AUV to sail along a straight-line trajectory, and based on the trajectory homotopy algorithm, construct a path set regarding the pitch angle and target depth of the AUV; wherein, the pitch angle during the AUV's diving process does not exceed the first set threshold; Evaluate the path according to the path length and the maximum acceleration of the AUV's pitch angle to obtain the optimal diving path of the AUV considering kinematic constraints under different target diving depths; Store the diving path parameters at different depths. After the AUV completes the information collection task, control the AUV to float and wait for recovery.

[0008] In some alternative embodiments, the determination of the number of autonomous underwater vehicles (AUVs) and the placement coordinates of the moored buoys in a set sea area, and the regional division of the distribution of the moored buoys includes: According to the set communication distance between the AUV and the moored buoy, obtain the underwater acoustic channel capacity at this distance; Calculate the minimum information collection time of each moored buoy according to the amount of information of each moored buoy; According to the working depth of the AUV, the placement depth of the moored buoy, and the set communication distance, calculate the circumferential radius of the information collection circle of the AUV moving around each moored buoy at the working depth; Path planning is carried out based on the Dubins path principle, and the planned path consists of a straight-line path and a circular path; the straight-line path is the tangent direction of the AUV towards the information collection circle of the next submersible buoy; the circular path is the AUV information collection path. When the sailing time of the AUV on the circular path is greater than the minimum information collection time, the AUV searches for the tangent line between the current information collection circle and the information collection circle of the next submersible buoy on the circular path, and takes the tangent line as the straight-line sailing path.

[0009] According to the second aspect of the present application, there is provided an ocean information collection device based on an ocean heterogeneous unmanned boat system, including: The first determination unit is used to determine the number of autonomous underwater vehicles (AUVs) in a set sea area and the placement coordinates of submersible buoys, and divide the distribution of submersible buoys into regions; The second determination unit is used to determine the sequence of the submersible buoy coordinates for the surface unmanned boat (USV) to traverse all the divided regions, and the position for deploying the AUV; The third determination unit is used to determine the optimal heave path of the AUV considering kinematic constraints under different target diving depths after the submersible buoy dives; The fourth determination unit is used to determine the path planning for each region according to the submersible buoy position and the relevant data collected by each submersible buoy; The recovery unit is used to trigger the USV to recover the AUV and return when the AUV floats to the water surface.

[0010] In some alternative embodiments, the second determination unit is further used for: Dividing regions according to the horizontal plane coordinates of the submersible buoys; Randomly select the horizontal plane coordinates of a submersible buoy from each divided region to form a set of coordinate sets with the USV shore base, and determine the non-closed sequence from the shore base to each divided region; solve the traveling salesman problem to obtain the optimal sequence of this set of coordinate sets; obtain a series of optimal sequences by traversing all points in all divided regions, and compare the path lengths of each group of sequences to obtain the optimal sequence for deploying the AUV; Based on the optimal sequence, when the USV is driving towards the next submersible buoy, control the USV to deploy the AUV when the horizontal distance between the USV and the submersible buoy reaches a set distance range.

[0011] In some alternative embodiments, the third determination unit is further used for: Control the AUV to dive along a spiral trajectory at a fixed pitch angle. After determining that it is approaching the target depth of the AUV, control the AUV to dive along a parabolic trajectory. After reaching the target depth, adjust the pitch angle of the AUV to 0. If the AUV has not reached the information collection range of the submersible buoy, control the AUV to sail along a straight-line trajectory. Based on the trajectory homotopy algorithm, construct a path set regarding the pitch angle and target depth of the AUV; wherein, the pitch angle during the AUV's diving process does not exceed the first set threshold; Evaluate the path according to the path length and the maximum acceleration of the AUV's pitch angle to obtain the optimal diving path considering kinematic constraints for the AUV under different target diving depths; Store the diving path parameters at different depths. After the AUV completes the information collection task, control the AUV to float up and wait to be recovered.

[0012] In some alternative embodiments, the third determination unit is further configured to: Obtain the underwater acoustic channel capacity at this distance according to the set communication distance between the AUV and the submersible buoy; Calculate the minimum information collection time for each submersible buoy according to the amount of information of each submersible buoy; Calculate the circumferential radius of the information collection circle for the AUV's movement around each submersible buoy at the working depth according to the working depth of the AUV, the installation depth of the submersible buoy, and the set communication distance; Perform path planning based on the Dubins path principle. The planned path consists of a straight-line path and a circumferential path; the straight-line path is the tangent direction of the AUV to the information collection circle of the next submersible buoy; the circumferential path is the AUV's information collection path. When the AUV's circumferential path sailing time is greater than the minimum information collection time, the AUV searches for the tangent line between the current information collection circle and the information collection circle of the next submersible buoy on the circumferential path and uses the tangent line as the straight-line sailing path.

[0013] In some alternative embodiments, the pitch angle for controlling the AUV to dive along a parabolic trajectory changes with depth as follows:

[0014] wherein, is the set pitch angle, is the pitch angle of the AUV at depth when, is the target submergence depth, is the intersection depth of the spiral trajectory and the parabolic trajectory.

[0015] In some alternative embodiments, the third determination unit is further configured to:

[0016] wherein, Denote the pseudo-trajectory homotopy function, , , are sub-functions of pseudo-trajectory homotopy, denotes the starting point of the path, denotes the intersection point of the spiral trajectory and the parabolic trajectory, denotes the end point of the path; Judge the rationality of the path, introduce , discard the path when it is 1, and save the path when it is 0. The AUV has exceeded the end point after completing the parabolic dive, ;

[0017] Among them, , is 's horizontal coordinate, is 's horizontal coordinate, is the horizontal coordinate of the end point of the parabolic path; Select the optimal dive path and ascent path by combining the path length and the pitch angle change rate.

[0018] In some alternative embodiments, the second determination unit is further configured to: The transmission loss of the signal with respect to the transmission distance and the frequency is:

[0019] Among them, is the spreading factor; is the absorption coefficient; The absorption coefficient is expressed according to the empirical formula as:

[0020] Regard turbulence, ships, waves and thermal noise as components of the simulated ocean soundscape. According to the empirical formula, represents the power spectral density of the simulated turbulence, represents the power spectral density of the simulated ships, represents the power spectral density of the simulated waves, represents the power spectral density of the simulated thermal noise, as follows:

[0021] Among them, and respectively represent the shipping activity factor and the wind speed; The power spectral density of the total ocean noise is:

[0022] Combining the transmission loss and the noise gives the nominal signal-to-noise ratio as follows:

[0023] The underwater acoustic channel capacity is:

[0024] represents the bandwidth, represents the source level; The minimum information collection time for each submersible is calculated according to the amount of information of each submersible as

[0025] where, represents the data size, =1500 , which is the propagation speed of sound in water.

[0026] In some alternative embodiments, the third determination unit is further configured to: Assume that there is an obstacle on the process path, and envelope the obstacle as a cylinder with a radius of , and decompose the obstacle avoidance path of the AUV into three circular arc paths, where is the radius of the first arc, is the radian angle of the first circular arc, is half of the radian angle formed by the original straight path of the AUV and the obstacle cylinder, is the distance between the coordinate where the AUV starts to perform the obstacle avoidance task and the obstacle, is the safe distance between the AUV and the obstacle. The constraint relationship between the above parameters is as follows:

[0027] By changing the safe distance , different obstacle avoidance paths are obtained, and it is necessary to ensure that satisfies the following conditions: , then .

[0028] According to the third aspect of the present application, there is provided an electronic device, including: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the steps of the method for collecting marine information based on the marine heterogeneous unmanned boat system according to the present application.

[0029] According to a fourth aspect of the present application, there is provided a non-transitory computer-readable storage medium storing computer instructions, and the computer instructions are used to cause the computer to execute the steps of the method for collecting marine information based on the marine heterogeneous unmanned boat system according to the present application.

[0030] The method and device for collecting marine information based on the marine heterogeneous unmanned boat system according to the present application, in view of the information collection requirements in complex marine environments, through the efficient cooperation of the heterogeneous marine robot system, a solution that comprehensively considers task allocation, path optimization, data collection and communication constraints is adopted, achieving a significant improvement in information collection efficiency and the optimal execution of the overall task.

[0031] The present application improves the task execution efficiency of the system through a region division and task allocation algorithm. The k-means clustering algorithm can be used to evenly divide the sensors (submerged buoys) in the sea area into several sub-regions to ensure the balanced allocation of tasks in each sub-region. At the same time, each AUV focuses on its assigned region, reducing task overlap between devices and improving the execution efficiency of the overall task. The accuracy of region division reduces the ineffective navigation of the USV between sub-regions, significantly reducing the overall energy consumption of the task. The present application adopts an ant colony optimization algorithm and a pseudo-trajectory homotopy method, which show superiority in the task execution process of the USV and the AUV. Through the ant colony optimization algorithm, the cruising path of the USV in the sea area is significantly optimized, ensuring that all sub-regions are covered with the shortest distance and greatly shortening the task execution time. The pseudo-trajectory homotopy method solves the path smoothness and kinematic constraint problems during the diving and surfacing processes of the AUV, enabling the AUV to complete the depth conversion task with the optimal path, ensuring both the smoothness of the path and reducing energy consumption. In addition, the AUV completes the shortest path collection task within the sub-region through Dubins path planning, effectively avoiding the path redundancy problem caused by turning restrictions in traditional path planning.

[0032] In terms of obstacle avoidance, the Dubins path and obstacle avoidance strategy adopted in the present application enhance the adaptability of the system. The common terrain obstacles and floating objects in the marine environment pose severe challenges to the information collection task. Through Dubins path planning, the present invention ensures that the AUV can flexibly bypass obstacles while maintaining the overall superiority of the shortest path planning.

[0033] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become readily understandable through the following description of the specification. Description of the Drawings

[0034] By referring to the drawings and reading the following detailed description, the above and other objects, features, and advantages of the exemplary embodiments of the present application will become readily understandable. In the drawings, several embodiments of the present application are shown in an exemplary rather than restrictive manner, where: In the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

[0035] Figure 1 A schematic flowchart of the method for collecting marine information based on a marine heterogeneous unmanned boat system according to an embodiment of the present application is shown; Figure 2 A schematic structural diagram of a marine heterogeneous unmanned boat system according to an embodiment of the present application; Figure 3 A schematic implementation flowchart of the method for collecting marine information based on a marine heterogeneous unmanned boat system according to an embodiment of the present application is shown; Figure 4 A schematic diagram of the task allocation result and the path of deploying an AUV by a USV according to an embodiment of the present application is shown; Figure 5 A schematic diagram of the pseudo-trajectory homotopy solution for the AUV diving path according to an embodiment of the present application is shown; Figure 6 A schematic diagram of the buoy access sequence for AUV information collection according to an embodiment of the present application is shown; Figure 7 A schematic diagram of the principle of the Dubins obstacle avoidance strategy for an AUV according to an embodiment of the present application is shown; Figure 8 A schematic diagram of the effect according to an embodiment of the present application is shown; Figure 9 A schematic structural diagram of the device for collecting marine information based on a marine heterogeneous unmanned boat system according to an embodiment of the present application is shown. Detailed Embodiments

[0036] To make the objectives, features, and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of the present application.

[0037] Figure 1The flowchart of the ocean information acquisition method based on the ocean heterogeneous unmanned boat system according to the embodiments of the present application is shown. The heterogeneous unmanned boat system consists of USV, AUV, and subsea buoys. First, the sea area to be processed is divided based on the number of AUVs according to the K-means algorithm; a point is randomly selected in each divided area, and a set of coordinate sets is formed with the shore base of the USV. The ant colony algorithm is used to solve each set to obtain the deployment sequence of the USV and the deployment positions of the AUVs reaching each sub-area starting from the shore base; according to the improved pseudo-trajectory homotopy method, the deep trajectory parameters of the AUV at different target depths are calculated; combined with the Dubins path, path planning is performed on the AUVs in each sub-area; after the AUV completes the information collection task, it floats to the water surface and waits to be recovered by the USV. The USV recovers according to the order of the AUVs returning to the water surface and returns. The following will introduce the technical solutions of the embodiments of the present application in detail with reference to the accompanying drawings.

[0038] As Figure 1 shown, the ocean information acquisition method based on the ocean heterogeneous unmanned boat system according to the embodiments of the present application includes the following steps: Step 101, determine the number of autonomous underwater vehicles AUVs in the set sea area and the placement coordinates of the buoys, and divide the distribution area of the buoys.

[0039] In the embodiments of the present application, according to the set communication distance between the AUV and the buoy, the underwater acoustic channel capacity at this distance is obtained; according to the amount of information of each buoy, the minimum information collection time of each buoy is calculated; according to the working depth of the AUV, the placement depth of the buoy, and the set communication distance, the radius of the circumference of the information collection circle of the AUV moving around each buoy at the working depth is calculated; path planning is performed based on the Dubins path principle, and the planned path consists of a straight path and a circular path; the straight path is the tangent direction of the AUV to the information collection circle of the next buoy; the circular path is the information collection path of the AUV. When the sailing time of the AUV on the circular path is greater than the minimum information collection time, the AUV searches for the tangent of the current information collection circle and the information collection circle of the next buoy on the circular path, and uses the tangent as the straight sailing path.

[0040] As an implementation method, the area division method is as follows: AUV position set P ={ p 1, p 2,..., p n}, where p i =( xi , yi ) represents the longitude and latitude coordinates of the i th AUV, and the preset number of clusters k , that is, the number of areas to be divided.

[0041] Randomly select k the positions of AUVs as the initial clustering centers:

[0042] is the coordinate of the j-th regional center, Calculate the Euclidean distance from each AUV to each clustering center and assign it to the nearest cluster:

[0043] Recalculate the clustering centers, that is, take the mean value within the cluster, as follows:

[0044] is the set of AUVs belonging to the j -th region; Stop the iteration when any of the following conditions is met: The change in the center point is less than the threshold , that is: , t is the iteration index; or reach the maximum number of iterations T max .

[0045] Among them, path planning is carried out based on the Dubins path principle, including: Assume that there are obstacles on the process path, envelope the obstacles into a cylinder with a radius of , decompose the obstacle avoidance path of the AUV into three arc paths, where is the radius of the first arc, is the radian angle of the first arc, is half of the radian angle formed by the original straight path of the AUV and the obstacle cylinder, is the distance between the coordinate where the AUV starts to perform the obstacle avoidance task and the obstacle, is the safety distance between the AUV and the obstacle. The constraint relationships between the above parameters are as follows:

[0046] By changing the safety distance , different obstacle avoidance paths are obtained, and it is necessary to ensure that meets the following conditions: , then .

[0047] In the embodiments of the present application, an AUV that satisfies the minimum turning radius constraint can be used for the shortest path planning in a two-dimensional plane.

[0048] The core constraints are as follows: Kinematics model: x ˙= v cos θ , y ˙= v sin θ , θ ˙= u , minimum turning radius: , path type: six possible sequences composed of straight line segments (S) and arc segments (L / R): P={ LSL , RSR , LSR , RSL , LRL , RLR}. The pose of the AUV is represented as q =( x , y , θ ), where, ( x , y ) is the plane coordinate, θ is the heading angle (in radians), and its turning angular velocity is limited: , for any starting point q s and the end point q g , the Dubins path can be expressed as a combination of three basic motions, namely, left-turn circle, right-turn circle, and straight line segment. Calculate the lengths of all path types and select the shortest path that meets the constraints.

[0049] Step 102, determine the sequence of the subsea buoy coordinates for the surface unmanned surface vehicle (USV) to traverse all divided areas, and the position for deploying the AUV.

[0050] In the embodiment of the present application, the area is divided according to the horizontal coordinates of the subsea buoys; a set of coordinate sets is formed by randomly selecting the horizontal coordinates of a subsea buoy from each divided area and the USV shore base, and an open-loop sequence from the shore base to each divided area is determined; the optimal sequence of this set of coordinate sets is obtained by solving the traveling salesman problem; a series of optimal sequences are obtained by traversing all points in all divided areas, and the optimal sequence for deploying the AUV is obtained by comparing the path lengths of each group of sequences; based on the optimal sequence, when the USV is driving towards the next subsea buoy and the horizontal distance between the USV and the subsea buoy reaches the set distance range, the AUV is deployed.

[0051] Specifically, the transmission loss of the signal with respect to the transmission distance and the frequency is:

[0052] where, is the spreading factor; is the absorption coefficient; The absorption coefficient is expressed by the empirical formula as:

[0053] Regarding turbulence, ships, waves, and thermal noise as components of the simulated ocean soundscape, according to the empirical formula, represents the power spectral density of the simulated turbulence, represents the power spectral density of the simulated ships, represents the power spectral density of the simulated waves, represents the power spectral density of the simulated thermal noise, as follows:

[0054] where, and respectively represent the shipping activity factor and the wind speed; The power spectral density of the total ocean noise is:

[0055] Combining the transmission loss and the noise can obtain the nominal signal-to-noise ratio, as follows:

[0056] The underwater acoustic channel capacity is:

[0057] represents the bandwidth, represents the source level; According to the amount of information of each mooring buoy, calculate the minimum information collection time of each mooring buoy as

[0058] where, represents the data size, = 1500 , which is the propagation speed of sound in water.

[0059] Step 103: After the mooring buoy sinks, determine the optimal heave path of the AUV considering kinematic constraints under different target depths.

[0060] In the embodiments of the present application, the AUV is controlled to dive along a spiral trajectory with a fixed pitch angle. After determining that the target depth of the AUV is approaching, the AUV is controlled to dive along a parabolic trajectory. After reaching the target depth, the pitch angle of the AUV is adjusted to 0. If the AUV does not reach the information collection range of the submersible buoy, the AUV is controlled to sail along a straight-line trajectory. Based on the trajectory homotopy algorithm, a path set regarding the pitch angle and target depth of the AUV is constructed. Among them, the pitch angle during the AUV's diving process does not exceed the first set threshold. The paths are evaluated according to the path length and the maximum acceleration of the AUV's pitch angle to obtain the optimal diving path considering kinematic constraints under different target diving depths of the AUV. The diving path parameters at different depths are stored. After the AUV completes the information collection task, the AUV is controlled to float up and wait to be recovered.

[0061] Among them, the pitch angle for controlling the AUV to dive along a parabolic trajectory changes with depth and is expressed as:

[0062] Among them, is the set pitch angle, is the pitch angle of the AUV at depth , is the target submergence depth, is the intersection depth of the spiral trajectory and the parabolic trajectory.

[0063] Based on the trajectory homotopy algorithm, a path set regarding the pitch angle and target depth of the AUV is constructed, including:

[0064] Among them, represents the pseudo-trajectory homotopy function, , , are sub-functions of the pseudo-trajectory homotopy, represents the starting point of the path, represents the intersection of the spiral trajectory and the parabolic trajectory, represents the end point of the path; Judge the rationality of the path, introduce , discard the path when it is 1, and save the path when it is 0. After the AUV completes the parabolic dive, it has exceeded the end point, ;

[0065] Among them, , is 's horizontal coordinate, is 's horizontal coordinate, is the horizontal coordinate of the end point of the parabolic path; Select the optimal diving path and surfacing path by combining the path length and the change rate of the longitudinal inclination angle.

[0066] Step 104: Determine the path planning for each area according to the position of the submersible buoy and the relevant data collected by each submersible buoy.

[0067] In the embodiment of the present application, the paths of each area are sorted according to the area weight to determine the best path. For the specific planning method, refer to the relevant records in the foregoing steps.

[0068] Step 105: Wait for the AUV to surface to the water surface, and the USV retrieves the AUV and returns.

[0069] Control the heaving path parameters of the AUV to complete the surfacing of the AUV. After reaching the water surface, send a retrieval instruction to the USV. The USV retrieves and returns in sequence according to the received AUV retrieval instruction.

[0070] The following combines specific examples to further clarify the essence of the technical solution of the embodiment of the present application.

[0071] Figure 2 is a schematic structural diagram of the marine heterogeneous unmanned boat system of the embodiment of the present application. As Figure 2 shown, the marine heterogeneous unmanned boat system of the embodiment of the present application includes at least three AUVs and at least one USV. The USV can deploy and retrieve the AUVs. At the bottom of the ocean, submersible buoys are also provided.

[0072] Figure 3 shows a schematic implementation flow diagram of the marine information collection method based on the marine heterogeneous unmanned boat system of the embodiment of the present application. As Figure 3 shown, the method of the embodiment of the present application includes the following steps: Step 1: Perform task allocation according to the submersible buoy position information and in combination with the number of AUVs.

[0073] In the embodiment of the present application, the submersible buoys and AUVs are arranged and the information collection configuration is performed according to the sea area to be processed. As Figure 4 shown.

[0074] Step 2: Solve the deployment path of the USV and the deployment positions of the AUVs.

[0075] According to the number of the information collection devices AUVs, divide the distribution of the submersible buoys in the sea area into regions; solve the sequence of the submersible buoy coordinates for the USV to traverse all sub-regions and the positions for deploying the AUVs.

[0076] In this embodiment, the coordinates of the seabed mooring buoy are known. The K-means algorithm is used for clustering according to its horizontal coordinates and the number of AUVs, and the sea area is divided into three sub-regions. A set of coordinate sets is formed by randomly selecting the horizontal coordinates of a mooring buoy from each of the divided sub-regions and the USV shore base. The ant colony algorithm is used to solve the non-closed-loop sequence from the shore base to each sub-region; and the traveling salesman problem is solved to obtain the optimal sequence of this set of coordinate sets; a series of optimal sequences are obtained by traversing all points in all sub-regions, and the optimal sequence for the USV to deploy the AUV is obtained by comparing the path lengths of each group of sequences; as Figure 4 shown, considering that the AUV's spiral descent to the specified depth cannot meet the consistency with the horizontal coordinates of the mooring buoy, when the USV is sailing above the next mooring buoy, when the horizontal distance between the USV and the mooring buoy reaches 200 meters, the AUV starts to be deployed, and after the deployment is completed, it sails to the next mooring buoy.

[0077] Step 3, control the AUV to perform pseudo-trajectory homotopy descent.

[0078] Step 4, the AUV sails towards the mooring buoy along a straight-line trajectory. During the driving process, it is necessary to determine whether there are obstacles in the journey and control the AUV to complete obstacle avoidance according to the Dubins path.

[0079] After being deployed, the AUV starts to dive and solves the optimal heave path of the AUV considering kinematic constraints under different target diving depths.

[0080] In this embodiment, as Figure 5 shown, the AUV heave path parameters are the same, and the AUV descent path is used for calculation. The maximum pitch angle of the AUV is limited within a certain range. When the AUV speed remains unchanged, the AUV first performs a spiral descent motion with the same projection circle radius; after approaching the target depth, the AUV starts to perform a parabolic trajectory descent, and the pitch angle is 0 after reaching the target depth, where the pitch angle of the AUV changes with depth as: (1) where, is the set pitch angle, is the pitch angle of the AUV at depth . is the target diving depth, is the intersection depth of the spiral trajectory and the parabolic trajectory. If the AUV does not reach the information collection range of the mooring buoy, it will sail along a straight-line trajectory, and combined with the trajectory homotopy method, a path set about the AUV pitch angle and the target depth is constructed. The pseudo-trajectory homotopy algorithm is expressed as: (2) represents the pseudo-trajectory homotopy function, , , is a sub - function of pseudo - trajectory homotopy. represents the starting point of the path. represents the intersection point of the spiral trajectory and the parabolic trajectory. represents the ending point of the path.

[0081] As Figure 5 shown, when the depth is set, and and are known, a series of pseudo - trajectory homotopy paths can be obtained by changing the value of the pitch angle. Based on this, the rationality of the path is judged, so is introduced. When is 1, the path is discarded; when it is 0, the path is saved. Due to the limitations of the AUV kinematic performance, the pitch - angle change rate has a maximum value . When the of a certain path, ; if the AUV has exceeded the end point after completing the parabolic dive, . Therefore . So is expressed as: (3) where , is 's horizontal coordinate, is 's horizontal coordinate, is the horizontal coordinate of the end point of the parabolic path. Finally, an optimal dive path is comprehensively selected considering the path length and the pitch - angle change rate. The ascent path of the AUV is the same and will not be elaborated here.

[0082] The AUV completes the path planning of the sub - region according to the position of the sub - sea buoy and the data volume of each sub - sea buoy.

[0083] In this embodiment, first, the sequence of AUV accessing the sub - sea buoys needs to be determined. As Figure 5 , Figure 6 shown, the non - closed - loop sequence from the coordinates in the USV deployment sequence as the starting point of the sub - region to all sub - sea buoys in this region is solved according to the ant - colony algorithm; and through solving the traveling salesman problem, the optimal sequence of AUV accessing the sub - sea buoys is obtained.

[0084] The transmission loss of the signal with respect to the transmission distance and frequency is: (4) where, is the spreading factor, taking 1.5; is the absorption coefficient, with the unit of 。

[0085] The absorption coefficient is expressed by an empirical formula as: (5) Due to the complexity of ocean ambient noise, turbulence, ships, waves, and thermal noise need to be taken as components for simulating the ocean soundscape. According to the empirical formula, they are successively expressed as: (6) where and respectively represent the shipping activity factor and the wind speed.

[0086] Therefore, the power spectral density of the total ocean noise is: (7) Combining the transmission loss and the noise, the nominal signal-to-noise ratio (SNR) can be obtained: (8) The underwater acoustic channel capacity is: (9) where represents the bandwidth, represents the source level.

[0087] Then, the minimum information collection time for each mooring buoy can be calculated according to the amount of information of each mooring buoy as (10) where represents the data size, represents the propagation speed of sound in water; On this basis, the information collection path of the AUV can be planned according to the Dubins path principle. The straight-line path is for the AUV to sail in the tangent direction of the information collection circle of the next mooring buoy; the circular path is the information collection path of the AUV. The AUV sails at a certain speed. When the time is greater than the minimum information collection time required for information transmission of each mooring buoy, the AUV searches for the tangent of the current information collection circle and the information collection circle of the next mooring buoy on the circular path and then changes to a straight-line sail.

[0088] If there are obstacles on the path during the AUV's sailing towards the mooring buoy, such as Figure 6 、 Figure 7 shown, the obstacle is enveloped as a cylinder with a radius of . According to the Dubins path, the obstacle avoidance path of the AUV is combined according to three arc paths. Among them, is the radius of the first arc, is the radian angle of the first arc, is half of the radian angle formed by the intersection of the original straight-line path of the AUV and the obstacle cylinder. is the distance between the coordinate where the AUV starts to perform obstacle avoidance tasks and the obstacle. is the safe distance between the AUV and the obstacle, as shown in (b) of Figure 6 . There are certain relationships among these parameters: (11) By changing the safe distance , different obstacle avoidance paths can be obtained. Among them, to ensure exists, it is necessary to satisfy: (12) Through calculation, it can be obtained that . Then, the optimal obstacle avoidance path is selected according to the total path length. Finally, the obstacle avoidance path of the AUV is as shown in (c) of Figure 6 .

[0089] Step 5: When there are no obstacles during the journey, the AUV sails around the submersible buoy along a circular trajectory and determines whether the AUV has completed information collection, that is, determines whether the information collection task of the submersible buoy in the sub-region has been completed. When the information collection task has not been completed, control the AUV to sail towards another submersible buoy to confirm the information collection result.

[0090] Step 6: The AUV floats to the water surface and waits to be recovered by the USV; the USV recovers each AUV in the order of the AUV floating to the water surface and returns.

[0091] Complete the floating according to the heaving path parameters of the AUV. After reaching the water surface, send a recovery instruction to the USV. The USV recovers and returns according to the received AUV recovery instruction in order.

[0092] As shown in Figure 8As shown, for the information collection requirements in complex marine environments, through the efficient collaboration of heterogeneous marine robot systems, a solution that comprehensively considers task allocation, path optimization, data collection, and communication constraints has achieved a significant improvement in information collection efficiency and the optimal execution of overall tasks. Through the regional division and task allocation algorithm, the task execution efficiency of the system has been improved. The sensors (moored buoys) in the sea area are evenly divided into several sub-regions to ensure the balanced allocation of tasks in each sub-region. At the same time, each AUV focuses on its assigned area, reducing task overlap between devices and improving the execution efficiency of the overall task. The accuracy of regional division reduces the ineffective navigation of the USV between sub-regions and significantly reduces the overall energy consumption of the task. This application uses the ant colony optimization algorithm and the pseudo-trajectory homotopy method, which shows superiority in the task execution process of the USV and AUV. Through the ant colony optimization algorithm, the cruising path of the USV in the sea area is significantly optimized, ensuring that all sub-regions are covered at the shortest distance and greatly shortening the task execution time. The control AUV can complete the depth conversion task along the optimal path, ensuring both the smoothness of the path and reducing energy consumption. In addition, the AUV completes the shortest path collection task within the sub-region through Dubins path planning, effectively avoiding the path redundancy problem caused by turning restrictions in traditional path planning. The common terrain obstacles and floating objects in the marine environment pose severe challenges to the information collection task. This application uses Dubins path planning to ensure that the AUV can flexibly bypass obstacles while maintaining the overall superiority of the shortest path planning.

[0093] Figure 9 The structural schematic diagram of the marine information collection device based on the marine heterogeneous unmanned boat system according to the embodiment of the present application is shown, as Figure 9 As shown, the marine information collection device based on the marine heterogeneous unmanned boat system according to the embodiment of the present application includes: The first determination unit 90 is used to determine the number of autonomous underwater vehicles (AUVs) in the set sea area and the placement coordinates of the moored buoys, and divide the distribution of the moored buoys into regions; The second determination unit 91 is used to determine the sequence of the coordinates of the moored buoys for the surface unmanned boat (USV) to traverse all divided regions, and the position for deploying the AUV; The third determination unit 92 is used to determine the optimal heave path considering kinematic constraints for the AUV under different target diving depths after the moored buoy dives; The fourth determination unit 93 is used to determine the path planning for each region according to the positions of the moored buoys and the relevant data collected by each moored buoy; The recovery unit 94 is used to trigger the USV to recover the AUV and return when the AUV floats to the water surface.

[0094] In some alternative embodiments, the second determination unit 91 is further used for: Conduct area division according to the horizontal coordinates of the subsea buoys; Randomly select the horizontal coordinates of a subsea buoy from each divided area and form a set of coordinate sets with the USV shore base, and determine the non-closed sequence from the shore base to each divided area; solve the traveling salesman problem to obtain the optimal sequence of this set of coordinate sets; obtain a series of optimal sequences by traversing all points in all divided areas, and compare the path lengths of each group of sequences to obtain the optimal sequence for deploying the AUV; Based on the optimal sequence, when controlling the USV to sail towards the next subsea buoy, deploy the AUV when the horizontal distance between the USV and the subsea buoy reaches the set distance range.

[0095] In some alternative embodiments, the third determination unit 92 is further configured to: Control the AUV to dive along a spiral trajectory with a fixed pitch angle. After determining that it is close to the target depth of the AUV, control the AUV to dive along a parabolic trajectory. After reaching the target depth, adjust the pitch angle of the AUV to 0. If the AUV has not reached the information collection range of the subsea buoy, control the AUV to sail along a straight-line trajectory, and construct a path set regarding the pitch angle and target depth of the AUV based on the trajectory homotopy algorithm; wherein, the pitch angle during the AUV's diving process does not exceed the first set threshold; Evaluate the path according to the path length and the maximum acceleration of the AUV's pitch angle to obtain the optimal diving path of the AUV considering kinematic constraints under different target diving depths; Store the diving path parameters at different depths. After the AUV completes the information collection task, control the AUV to float and wait for recovery.

[0096] In some alternative embodiments, the third determination unit 92 is further configured to: Obtain the underwater acoustic channel capacity at this distance according to the set communication distance between the AUV and the subsea buoy; Calculate the minimum information collection time for each subsea buoy according to the amount of information of each subsea buoy; Calculate the circumradius of the information collection circle of the AUV's movement around each subsea buoy at the working depth according to the working depth of the AUV, the placement depth of the subsea buoy, and the set communication distance; Conduct path planning based on the Dubins path principle. The planned path consists of a straight-line path and a circular path; the straight-line path is the tangent direction of the AUV to the information collection circle of the next subsea buoy; the circular path is the AUV's information collection path. When the sailing time of the AUV on the circular path is greater than the minimum information collection time, the AUV searches for the tangent of the current information collection circle and the information collection circle of the next subsea buoy on the circular path and uses the tangent as the straight-line sailing path.

[0097] In some alternative embodiments, the pitch angle for controlling the AUV's parabolic trajectory during diving as a function of depth is expressed as:

[0098] where is the set pitch angle, is the pitch angle of the AUV at depth , is the target diving depth, is the depth of the intersection point of the spiral trajectory and the parabolic trajectory.

[0099] In some alternative embodiments, the third determination unit 92 is further configured to:

[0100] where represents the pseudo-trajectory homotopy function, , , are sub-functions of the pseudo-trajectory homotopy, represents the starting point of the path, represents the intersection point of the spiral trajectory and the parabolic trajectory, represents the end point of the path; Judge the rationality of the path, introduce , discard the path when it is 1, and save the path when it is 0. The AUV has exceeded the end point after completing the parabolic dive, ;

[0101] where , is 's horizontal coordinate, is 's horizontal coordinate, is the horizontal coordinate of the end point of the parabolic path; Select the optimal diving path and ascending path in combination with the path length and the pitch angle change rate.

[0102] In some alternative embodiments, the second determination unit 91 is further configured to: The transmission loss of the signal with respect to the transmission distance and frequency is:

[0103] where is the spreading factor; is the absorption coefficient; The absorption coefficient is expressed according to the empirical formula as:

[0104] Taking turbulence, ships, waves, and thermal noise as components of the simulated ocean soundscape, according to the empirical formula, represents the power spectral density of the simulated turbulence, represents the power spectral density of the simulated ships, represents the power spectral density of the simulated waves, represents the power spectral density of the simulated thermal noise, as follows:

[0105] Wherein, and respectively represent the shipping activity factor and the wind speed; The power spectral density of the total ocean noise is:

[0106] Combining the transmission loss and the noise can obtain the nominal signal-to-noise ratio, as follows:

[0107] The underwater acoustic channel capacity is:

[0108] represents the bandwidth, represents the source level; Calculating the minimum information collection time for each submersible according to the amount of information of each submersible is

[0109] Wherein, represents the data size, = 1500 , which is the propagation speed of sound in water.

[0110] In some alternative embodiments, the third determination unit 92 is further configured to: Assume that there is an obstacle on the process path, and envelope the obstacle as a cylinder with a radius of , and decompose the obstacle avoidance path of the AUV into three arc paths, where is the radius of the first arc, is the radian angle of the first arc, is half of the radian angle formed by the intersection of the original straight line path of the AUV and the obstacle cylinder, is the distance between the coordinate where the AUV starts to perform the obstacle avoidance task and the obstacle, is the safe distance between the AUV and the obstacle, and the constraint relationships between the above parameters are as follows:

[0111] By changing the safety distance , different obstacle avoidance paths are obtained, and it is necessary to ensure that the following conditions are met: , then .

[0112] In an exemplary embodiment, each processing unit in the marine information acquisition device of the marine heterogeneous unmanned boat system according to the embodiments of the present application can be implemented by one or more central processing units (CPUs, Central Processing Unit), graphics processing units (GPUs, Graphics Processing Unit), application specific integrated circuits (ASICs, Application Specific Integrated Circuit), DSPs, programmable logic devices (PLDs, Programmable Logic Device), complex programmable logic devices (CPLDs, Complex Programmable Logic Device), field programmable gate arrays (FPGAs, Field-Programmable Gate Array), general purpose processors, controllers, microcontroller units (MCUs, MicroController Unit), microprocessors (Microprocessor), or other electronic components.

[0113] Regarding the device in the above embodiments, the specific manners in which each module and unit perform operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0114] According to the embodiments of the present application, the present application also records an electronic device and a readable storage medium.

[0115] The embodiments of the present application also record an electronic device, including: at least one processor; a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the steps of the marine information acquisition method based on the marine heterogeneous unmanned boat system of the present application.

[0116] The embodiments of the present application also record a non-transitory computer-readable storage medium storing computer instructions, and the computer instructions are used to cause the computer to execute the steps of the marine information acquisition method based on the marine heterogeneous unmanned boat system of the present application.

[0117] The protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An ocean information acquisition method based on an ocean heterogeneous unmanned boat system, characterized in that The method includes: Determine the number of autonomous underwater vehicles (AUVs) in a set sea area and the placement coordinates of the mooring buoys, and divide the distribution of the mooring buoys into regions; Determine the sequence of the mooring buoy coordinates for the surface unmanned surface vehicle (USV) to traverse all the divided regions, and the positions for deploying the AUVs. Specifically, divide the regions according to the horizontal coordinates of the mooring buoys; randomly select the horizontal coordinate of a mooring buoy from each divided region to form a set of coordinate pairs with the USV shore base, and determine the non-closed sequence from the shore base to each divided region; solve the traveling salesman problem to obtain the optimal sequence of this set of coordinate pairs; obtain a series of optimal sequences by traversing all the points in all the divided regions, and compare the path lengths of each group of sequences to obtain the optimal sequence for deploying the AUVs; based on the optimal sequence, when the USV is sailing towards the next mooring buoy and the horizontal distance between the USV and the mooring buoy reaches the set distance range, deploy the AUV; After the mooring buoy submerges, determine the optimal heave path of the AUV considering kinematic constraints under different target diving depths; Determine the path planning for each region according to the positions of the mooring buoys and the relevant data collected by each mooring buoy; Wait for the AUV to surface, and then the USV retrieves the AUV and returns; 2. The acquisition method according to claim 1, wherein The determination of the optimal heave path of the AUV considering kinematic constraints under different target diving depths includes: Control the AUV to dive along a spiral trajectory with a fixed pitch angle. After determining that it is approaching the AUV target depth, control the AUV to dive along a parabolic trajectory. After reaching the target depth, adjust the pitch angle of the AUV to 0. If the AUV has not reached the information collection range of the mooring buoy, control the AUV to sail along a straight-line trajectory. Based on the trajectory homotopy algorithm, construct a path set regarding the pitch angle of the AUV and the target depth; wherein, the pitch angle of the AUV during the diving process does not exceed the first set threshold; Evaluate the path according to the path length and the maximum acceleration of the pitch angle of the AUV to obtain the optimal diving path of the AUV considering kinematic constraints under different target diving depths; Store the diving path parameters at different depths. After the AUV completes the information collection task, control the AUV to surface and wait to be retrieved; 3. The acquisition method according to claim 1, wherein The determination of the number of autonomous underwater vehicles (AUVs) in a set sea area and the placement coordinates of the mooring buoys, and the division of the distribution of the mooring buoys into regions includes: According to the set communication distance between the AUV and the mooring buoy, obtain the underwater acoustic channel capacity at this distance; Calculate the minimum information collection time for each mooring buoy according to the amount of information of each mooring buoy; According to the working depth of the AUV, the placement depth of the mooring buoy, and the set communication distance, calculate the circumferential radius of the information collection circle for the AUV to move around each mooring buoy at the working depth; Based on the Dubins path principle, perform path planning. The planned path consists of a straight-line path and a circumferential path; the straight-line path is the tangent direction of the AUV to the information collection circle of the next mooring buoy; the circumferential path is the information collection path of the AUV. When the sailing time of the AUV on the circumferential path is greater than the minimum information collection time, the AUV searches for the tangent between the current information collection circle and the information collection circle of the next mooring buoy on the circumferential path, and uses the tangent as the straight-line sailing path.

4. The acquisition method according to claim 2, wherein The change of the pitch angle for controlling the AUV to dive along a parabolic trajectory with depth is expressed as: Among them, is the set pitch angle, is the pitch angle of the AUV at depth , is the target diving depth, is the intersection depth of the spiral trajectory and the parabolic trajectory.

5. The acquisition method according to claim 4, characterized in that, Based on the trajectory homotopy algorithm, construct a set of paths regarding the pitch angle of the AUV and the target depth, including: Among them, represents the pseudo-trajectory homotopy function, , , are sub-functions of the pseudo-trajectory homotopy, represents the starting point of the path, represents the intersection point of the spiral trajectory and the parabola trajectory, represents the end point of the path; Judge the rationality of the path and introduce , When it is 1, discard the path. When it is 0, save the path. The AUV has exceeded the end point after completing the parabolic dive, ; Among them, , is 's horizontal coordinate, is 's horizontal coordinate, is the horizontal coordinate of the end point of the parabolic path; Select the optimal diving path and surfacing path by combining the path length and the change rate of the pitch angle.

6. The acquisition method according to claim 3, characterized in that Randomly select a horizontal coordinate of a submersible buoy in each divided area and the USV shore base to form a set of coordinate sets, and determine an open-loop sequence from the shore base to each divided area; solve the traveling salesman problem to obtain the optimal sequence of this set of coordinate sets, including: The transmission loss of the signal with respect to the transmission distance and frequency is as follows: Among them, is the spreading factor; is the absorption coefficient; The absorption coefficient is expressed according to the empirical formula as: Taking turbulence, ships, waves, and thermal noise as components of the simulated ocean soundscape, according to the empirical formula, represents the power spectral density of the simulated turbulence, represents the power spectral density of the simulated ships, represents the power spectral density of the simulated waves, represents the power spectral density of the simulated thermal noise, as follows: Among them, and respectively represent the shipping activity factor and the wind speed; The power spectral density of the total ocean noise is: Combining the transmission loss and the noise can obtain the nominal signal-to-noise ratio, as follows: The underwater acoustic channel capacity is: represents the bandwidth, represents the source level; Calculate the minimum information collection time of each submersible buoy according to the amount of information of each submersible buoy as Among them, represents the data size, = 1500 , which is the propagation speed of sound in water.

7. The acquisition method according to claim 6, wherein Based on the Dubins path principle for path planning, including: Assume that there is an obstacle on the process path, and the obstacle is enveloped as a cylinder with a radius of . The obstacle avoidance path of the AUV is decomposed into three arc paths, where is the radius of the first arc, is the radian angle of the first arc, is half of the radian angle formed by the intersection of the original straight-line path of the AUV and the obstacle cylinder, is the distance between the coordinate where the AUV starts to perform the obstacle avoidance task and the obstacle, is the safe distance between the AUV and the obstacle. The constraint relationships between the parameters are as follows: By changing the safety distance , different obstacle avoidance paths are obtained, and it is necessary to ensure that meet the following conditions: , then .

8. An ocean information acquisition device based on an ocean heterogeneous unmanned boat system, characterized in that, The device includes: The first determination unit is used to determine the number of autonomous underwater vehicles (AUVs) in a set sea area and the placement coordinates of the submersible buoys, and divide the distribution of the submersible buoys into areas; The second determination unit is used to determine the sequence of the submersible buoy coordinates for the surface unmanned surface vehicle (USV) to traverse all divided areas, and the position for deploying the AUV. Specifically, divide the area according to the horizontal coordinates of the submersible buoys; randomly select a horizontal coordinate of a submersible buoy in each divided area and the USV shore base to form a set of coordinate sets, and determine an open-loop sequence from the shore base to each divided area; solve the traveling salesman problem to obtain the optimal sequence of this set of coordinate sets; obtain a series of optimal sequences by traversing all points in all divided areas, compare the path lengths of each group of sequences to obtain the optimal sequence for deploying the AUV; based on the optimal sequence, when the USV is driving towards the next submersible buoy, deploy the AUV when the horizontal distance between the USV and the submersible buoy reaches the set distance range; The third determination unit is used to determine the optimal heave path considering kinematic constraints for the AUV under different target diving depths after the submersible buoy dives; The fourth determination unit is used to determine the path planning for each area according to the position of the submersible buoy and the relevant data collected by each submersible buoy; The recovery unit is used to trigger the USV to recover the AUV and return when the AUV surfaces to the water surface.

9. The device according to claim 8, wherein The third determination unit is further used for: Control the AUV to dive along a spiral trajectory with a fixed pitch angle, determine that after approaching the AUV target depth, control the AUV to dive along a parabolic trajectory, and after reaching the target depth, adjust the pitch angle of the AUV to 0. If the AUV does not reach the information collection range of the submersible buoy, control the AUV to sail along a straight-line trajectory, and based on the trajectory homotopy algorithm, construct a set of paths regarding the pitch angle of the AUV and the target depth; wherein, the pitch angle during the AUV diving process does not exceed the first set threshold; Evaluate the path according to the path length and the maximum acceleration of the AUV pitch angle to obtain the optimal diving path considering kinematic constraints for the AUV under different target diving depths; Store the diving path parameters at different depths, and after the AUV completes the information collection task, control the AUV to surface and wait for recovery.

10. The device according to claim 9, characterized in that, The third determination unit is further configured to: Obtain the underwater acoustic channel capacity at this distance according to the set communication distance between the AUV and the submersible buoy; Calculate the minimum information collection time for each submersible buoy according to the amount of information of each submersible buoy; Calculate the circumferential radius of the information collection circle for the movement of the AUV around each submersible buoy at the working depth according to the working depth of the AUV, the placement depth of the submersible buoy, and the set communication distance; Perform path planning based on the Dubins path principle. The planned path consists of a straight path and a circumferential path; the straight path is the tangent direction of the AUV to the information collection circle of the next submersible buoy; the circumferential path is the information collection path of the AUV. When the sailing time of the AUV on the circumferential path is greater than the minimum information collection time, the AUV searches for the tangent line between the current information collection circle and the information collection circle of the next submersible buoy on the circumferential path, and uses the tangent line as the straight sailing path.

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