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Improved fireflyalgorithm based AUV (autonomous underwater vehicle) three-dimensional track planning method

A firefly algorithm and route planning technology, applied in the field of AUV three-dimensional route planning based on the improved firefly algorithm

Inactive Publication Date: 2014-08-06
HARBIN ENG UNIV
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Problems solved by technology

Patent ZL201110257951.3 discloses a new method of ship path planning based on the firefly algorithm. This method is a two-dimensional route planning method. At present, there is no document applying the firefly algorithm to three-dimensional route planning.

Method used

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  • Improved fireflyalgorithm based AUV (autonomous underwater vehicle) three-dimensional track planning method
  • Improved fireflyalgorithm based AUV (autonomous underwater vehicle) three-dimensional track planning method
  • Improved fireflyalgorithm based AUV (autonomous underwater vehicle) three-dimensional track planning method

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Embodiment Construction

[0040] The three-dimensional path planning method of the underwater submersible based on the improved firefly algorithm of the present invention will be described in detail below.

[0041] The invention discloses a three-dimensional path planning method for an underwater submersible based on an improved firefly optimization algorithm, and belongs to the technical field of three-dimensional path planning for an underwater submersible. In the invention, the firefly algorithm parameter self-adaptive calculation method is proposed, which improves the optimization ability of the firefly algorithm itself, and enables effective search in a large-scale space. At the same time, the AUV three-dimensional path planning scheme is proposed, and the improved firefly algorithm is applied to it, and by adding exclusion operators, mutation operators and contraction operators in the planning, the algorithm can quickly find the optimal path, and the planning speed and planning speed of the algori...

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Abstract

The invention belongs to the technical field of three-dimensionalpath planning for underwater vehicles, particularly relates to animproved fireflyalgorithm based AUV (autonomous underwater vehicle) three-dimensional track planning method and provides an improved fireflyalgorithm based AUV three-dimensional path planning method. The method comprises the steps as follows: performing modeling and fireflypopulation initialization on the three-dimensionalpath planning for the underwater vehicles; calculating objective function values; calculating self-adaptive parameters; comparing thebrightness among fireflies, and updating positions of the fireflies; adding auxiliary planning operators; outputting optimal pathswhen meeting algorithmiteration stop conditions, ending the three-dimensionalpath planning for the underwater vehicles, and outputting an optimal path of the last iteration. Themethodis more flexiblethan a traditional path search algorithm, the auxiliary planning operators are added, and quick planning of AUV three-dimensional paths can be realized.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional route planning of underwater submersibles, and in particular relates to an AUV three-dimensional route planning method based on an improved firefly algorithm. Background technique [0002] AUV can be widely used in oceanographic surveying, topographic and geomorphic surveying, target search, submarine pipeline inspection and maintenance and other fields. The biggest feature of AUV is its high degree of autonomy. One of the autonomous performances of AUV is the global planning ability. The 3D path planning of the underwater vehicle is given a moving body and a description of the environment. After the environment modeling is completed, the path planning task of the underwater vehicle needs to meet certain optimization criteria (such as path The shortest, least time-consuming, etc.) and additional constraints (such as steering angle, navigation depth, etc.) to search for an optimal path (...

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 刘厂金娜高峰赵玉新刘利强
Owner HARBIN ENG UNIV
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