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Method for planning route of unmanned surface vehicle based on universal gravitation search

A technology of universal gravitation and route planning, applied in the field of path search, can solve problems such as long search time and easy to fall into local optimal solutions, and achieve the effects of reducing time spent, improving autonomy, and improving accuracy

Inactive Publication Date: 2017-05-24
JIANGSU UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

However, the basic gravitational search algorithm has shortcomings such as long search time and easy to fall into local optimal solutions. Therefore, it must be improved when applying the gravitational search algorithm to solve the route planning problem of surface unmanned vehicles.

Method used

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  • Method for planning route of unmanned surface vehicle based on universal gravitation search
  • Method for planning route of unmanned surface vehicle based on universal gravitation search
  • Method for planning route of unmanned surface vehicle based on universal gravitation search

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Embodiment Construction

[0035] The basic gravitational search algorithm is a heuristic algorithm based on Newton's law and the law of motion. This algorithm mainly improves the exploration and operation capabilities based on the rules of gravity. Gravity (GSA) is one of the four basic forces in nature. Particles are constantly approaching each other under the action of gravity, and particles will attract each other in nature. According to Newton's gravitational formula (1), it can be seen that the magnitude of the force between particles is proportional to their mass, and inversely proportional to the square of the Euclidean distance between them:

[0036]

[0037] Among them, F represents the size of universal gravitation, G represents the gravitational constant, and M 1 and M 2 Represent the inertial masses of the two particles, and R represents the Euclidean distance between the two particles. It can be seen that heavier particles have stronger attraction to other particles, such as figure 1...

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Abstract

The invention discloses a method for planning route of an unmanned surface vehicle based on universal gravitation search. The method comprises the following steps: firstly, establishing a mathematical model of the surface unmanned vehicle, and initializing parameters of the method; secondly, randomizing a plurality of paths and an initial position and an accelerated speed of each particle, and establishing a rotating coordinate system; thirdly, updating inertia mass of each particle according to a rule of dynamic inertia weight, and updating the speed of each particle according to an improved universal gravitation method; finally, updating the position of each particle according to an updated speed of the particle and a selection principle of survival of the fittest; if the number of iterations is greater than the maximum number of iterations, exiting a loop; otherwise, returning to the previous step for entering into the next iteration; performing coordinate inverse-transformation on the obtained optical path coordinate, and outputting results.

Description

technical field [0001] The invention relates to path search technology, in particular to a route planning method for surface unmanned boats based on universal gravitational search. Background technique [0002] The unmanned surface vehicle (USV) can undertake the functions of intelligence collection, maritime reconnaissance and surveillance, precision strike, search and capture, hydrographic survey, anti-terrorism, ocean blockade support, etc. The application prospect has become one of the research directions of intelligent equipment at home and abroad. At present, a variety of unmanned boats have been used in military, scientific research and other fields, among which the "SPAR-TAN" of the United States and the "Protector" of Israel are typical representatives. Autonomous route planning is an important link to realize the autonomous navigation of surface unmanned vehicles. The goal of path selection is that the required path distance is the minimum value among all paths. ...

Claims

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Application Information

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IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/203G05D1/0206
Inventor 朱志宇尚明栋李阳李垣江周涛刘润邦
Owner JIANGSU UNIV OF SCI & TECH
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