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AUV route planning method based on improved artificial potential field optimization algorithm

An optimization algorithm, artificial potential field technology, applied in vehicle position/route/height control, non-electric variable control, instruments, etc., can solve problems such as unreachable target and local minimum value, and achieve reduced complexity and easy to find. Optimality, the effect of improving optimality and robustness

Inactive Publication Date: 2018-08-31
HARBIN ENG UNIV
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Problems solved by technology

Target unreachability and local minimum problems are likely to occur due to the uncertainty of obstacles

Method used

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  • AUV route planning method based on improved artificial potential field optimization algorithm
  • AUV route planning method based on improved artificial potential field optimization algorithm
  • AUV route planning method based on improved artificial potential field optimization algorithm

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Embodiment Construction

[0066] The present invention is an AUV route planning method that improves the artificial potential field optimization algorithm. The following will take a three-dimensional environment as a marine mission environment, 1 AUV carrying a reconnaissance sensor module, 3 reconnaissance missions, and 4 obstacles as an example. The implementation of the improved algorithm is described. The method flow of the present invention is as follows figure 1 shown:

[0067] S1: It is necessary to establish an environmental model in the unknown environment of the ocean, and obtain the location information of obstacles through multi-beam sonar. The horizontal opening angle of the sonar is α=120°, 3 beams, the vertical opening angle is β=17°, and there are 80 beams, so the multi-beam sonar has a total of 240 beams. The detection distance is R=120m, and the working frequency is 2Hz.

[0068] S2: Initialization work: It mainly includes the initialization of the surface workstation, the download...

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Abstract

The invention relates to an AUV route planning method based on an improved artificial potential field optimization algorithm. On the basis of own characteristics of an AUV, the AUV may collide with asubmerged rock, shipwreck, or a fish school during the sailing process when performing a task in a deep sea area and the security of the AUV is threatened greatly by the insecurity in an unknown environment. In an unknown marine environment, a novel repulsive field function is introduced by the method to complete the task without any collision by the AUV under the condition of having an obstacle,so that the AUV is assisted in improving a target inaccessible phenomenon; the AUV is assisted in being free from a local minimum value phenomenon by introducing a random (0-pai / 2) rotation angle; andon the basis of combination of the two kinds of methods, optimizing of route planning of the AUV is realized. Because of the improvement at the two parts, the optimization and robustness of the algorithm are improved comprehensively and the complexity of the algorithm is reduced.

Description

technical field [0001] The invention relates to an AUV route planning method, in particular to an AUV route planning method which improves an artificial potential field optimization algorithm. Background technique [0002] At present, unmanned systems have developed rapidly in the air, on land, on the surface, and under water, and gradually play an important role in our social life, such as: unmanned vehicles and robots on the ground, satellites in the sky, drones, marine The appearance of each unmanned system drives the development of society, and the all-dimensional unmanned system is sweeping the field of human production and life. Since the 1990s, with the rapid development of computer software, hardware, electronic equipment technology and intelligent algorithms, underwater vehicles have come to the fore, and the AUVs, which are free from the shackles of cables, are more flexible in the process of performing underwater tasks. At present, AUVs are more used to perform t...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 李娟袁锐锟张昆玉张建新陈兴华杜雪
Owner HARBIN ENG UNIV
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