AUV global path planning method based on quantum shark mechanism

Abstract

The invention provides an AUV global path planning method based on a quantum shark mechanism. Environmental modeling is realized by adopting a multi-Lamb eddy current superposition technology and an obstacle grid equivalent technology. The AUV global path planning model comprises four parts of decision variable design, navigation cost design, constraint condition design and cost function design, fully considers the safety, high efficiency and reliability of the AUV navigation path, and has better practicability. According to the quantum shark optimization mechanism designed by the invention, the global path planning route of the AUV can be quickly obtained, the quantum shark optimization mechanism simulates the predation process of the shark and evolves the quantum state of the shark in combination with a simulated quantum revolving door, the convergence speed is high, the convergence precision is high, and the robustness is better. A simulation experiment proves the effectiveness of the AUV global path planning method based on the quantum shark mechanism, and compared with a traditional path planning method, the AUV global path planning method based on the quantum shark mechanism is higher in search speed and higher in precision.

Description

technical field [0001] The invention relates to an AUV global path planning method under the environment of ocean currents and obstacles, and belongs to the field of underwater vehicle path planning. Background technique [0002] In recent years, the research and application of autonomous unmanned equipment has developed rapidly. Autonomous underwater vehicle AUV is a kind of unmanned equipment, which integrates target recognition, target positioning, data survey, data fusion, intelligent control and Multiple systems such as communication and navigation have broad application prospects in the fields of underwater surveillance, deep-sea detection, shallow rescue, ocean development, and ocean defense. Path planning refers to the process of pre-calculating, setting and optimizing the navigation direction and navigation route of the planned equipment in order to reach a certain goal or complete a certain task, mainly including environmental information collection, underwater env...

AI Technical Summary

Problems solved by technology

[0005] The search results of the existing literature show that there are several deficiencies in the existing AUV global path planning method: the impact of ocean currents in a single direction is not considered or only considered in the environmental modeling, resulting in the similarity between the AUV path planning method and the land robot path planning method , even if a more accurate path can be found, it is difficult to apply it to engineering practice; the path search algorithm still has problems such as high computational complexity, slow convergence speed, poor convergence accuracy, and easy to fall into local extremum

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