Data-driven path planning method for unmanned underwater vehicle

Abstract

The invention provides a data-driven path planning method for an unmanned underwater vehicle, and is mainly applied to path planning of an underwater region traversal task. The method comprises the following steps: firstly, for a task area, carrying out environment modeling by utilizing a grid method, reading priori knowledge to update a modeling map, and generating an initial global path by utilizing initial map information; during execution of the task, detecting and receiving observation data in real time, carrying out online path planning analysis, deciding a global planning mode and a local planning mode based on a planning mode decision evaluation function F, if the global planning mode and the local planning mode are switched to the local planning mode, carrying out local planning according to a heuristic rule set, and returning to an initial global planning path after traversal of a local feature dense area is completed; according to the scheme, online guidance decision makingis carried out according to underwater real-time high-dimensional space observation data, global and local planning decision making is carried out on the basis of real-time detection conditions, an adaptive planning strategy is selected through planning mode switching, the method can be suitable for more complex environments, and the time efficiency is remarkably improved.

Description

technical field [0001] The invention relates to the field of underwater navigation, in particular to a data-driven path planning method for an underwater unmanned vehicle. Background technique [0002] Since the deep-sea environment may have many unpredictable dangers and is relatively difficult to approach, in actual underwater operations, autonomous underwater robots can operate independently and complete many tasks without human intervention, such as autonomous navigation, autonomous avoidance, etc. barriers and autonomous work. Therefore, in situations that are not suitable for divers, underwater unmanned vehicles play an important role in both military and commercial applications, such as deep-sea work platforms, ocean exploration sampling, underwater measurement, and other research applications. Human underwater robot just can embody huge superiority. [0003] Path planning technology is an important technology for underwater robots to complete marine tasks. There ar...

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Problems solved by technology

[0006] In order to solve the problem that existing area traversal algorithms generally lack decision-making ability and low efficiency, the present invention proposes a data-driven path planning method for underwater unmanned vehicles, which can use real-time high-dimensional space observation data to perform global and local path planning Mode switching, and according to the shape characteristics of the target, select the most appropriate local traversal method, and refer to the heuristic search rules to optimize the local path planning, thereby improving efficiency

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