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AUV target searching method

A target search and target technology, applied in the AUV target search process, based on the improved attraction source target search algorithm field, can solve problems such as the inability to solve the target position search situation

Active Publication Date: 2020-06-26
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

But this algorithm cannot solve the search situation where the target position and state are unknown

Method used

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Embodiment Construction

[0059] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0060] In the present invention, in an unknown underwater environment, the AUV is equipped with a detection sonar, and the search task is completed in the shortest time based on the target search algorithm of the improved attraction source.

[0061] The present invention is achieved like this:

[0062] 1. Establishment of sonar detection model

[0063] Due to the large search area, the algorithm proposed by the present invention regards both the target and the AUV as particles. In an underwater unknown environment without prior information, AUV obtains underwater target information and surrounding environment information in real time through sonar sensors, and creates and updates the environmental perception map in real time based on the information obtained by sonar.

[0064] 2. Establishment of environmental awareness map

[0065] The p...

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Abstract

The invention discloses an AUV (Autonomous Underwater Vehicle) target searching method. The AUV target searching method comprises the steps of establishing a sonar detection model, establishing an environment sensing map and searching a target based on an improved attraction source. According to the invention, surrounding environment information is detected in real time through the sonar sensor inan unknown underwater environment without prior information; various environment sensing maps are created and updated; a pheromone release mechanism is improved; therefore, the AUV can perform returnvisit on the area with lower target existence probability under the condition of higher coverage rate of the search area; the target omission caused by the detection probability problem is avoided; the AUV is prevented from repeatedly searching in the searched area; according to the method, to-be-activated attraction sources are arranged at opposite corners of a search area, targets at corners can be searched more easily by activating the to-be-activated attraction sources, updating formulas and search income functions of all environment perception maps are formulated, an AUV is made to makea maximum income movement decision, and the search efficiency is improved while the search reliability and stability are guaranteed.

Description

technical field [0001] The invention relates to the field of underwater target search, relates to an AUV target search method, in particular to a target search algorithm based on an improved attraction source, which can be applied to the AUV target search process in an unknown underwater environment. Background technique [0002] With the rapid development of modern science and technology, human beings are increasingly dependent on marine resources. However, due to the complex and changeable marine environment and low underwater visibility, human exploration of the ocean has become extremely challenging. In recent years, due to the technical characteristics of autonomous underwater vehicles (AUVs), which have good concealment, flexibility of underwater movement, and economic applicability, they have gathered high-tech means in various fields. extensive attention. [0003] Aiming at the problem of target search in an unknown environment, extensive research has been carried o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/88G06N3/04G06N3/06G06N3/08
CPCG01S15/88G06N3/06G06N3/08G06N3/04
Inventor 李娟张栩陈兴华徐健王宏健
Owner HARBIN ENG UNIV
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