An energy-saving underwater path planning method based on particle swarm optimization with re-excitation mechanism

Abstract

The invention discloses an energy-saving underwater path planning method based on the particle swarm algorithm of the re-excitation mechanism. First, the Graham algorithm is used to generate a convex polygonal obstacle, and the obstacle is expanded outward to form a dangerous area; then, the MAKLINK graph theory method is used, Connect the vertex lines of convex polygonal obstacles to generate an undirected network graph; use the Dijkstra algorithm for preliminary suboptimal path planning to obtain the shortest link line; then use the re-excitation mechanism to improve the particle swarm algorithm and integrate it into the influence of ocean currents to ensure The autonomous underwater vehicle (Autonomous Underwater Vehicle, AUV) maximizes the use of ocean currents and saves energy; then uses the final improved particle swarm optimization algorithm to optimize the path, and uses the Bessel algorithm to smooth the optimal path to ensure that the AUV can save energy. Find the optimal path to achieve safe obstacle avoidance.

Description

technical field [0001] The invention relates to a path planning method of an underwater robot, in particular to an energy-saving underwater path planning method based on a particle swarm algorithm of a re-excitation mechanism. Background technique [0002] As the main tool for humans to explore the ocean, AUVs safely avoid obstacles and plan a reasonable path when interacting with the external environment underwater to ensure the safety of underwater robots. The underwater environment is complex and has various obstacles. Among them, AUVs are most affected by ocean currents. Therefore, considering ocean currents in underwater path planning is of great significance for saving robot energy. [0003] At present, there are many studies on the path planning of underwater robots in the two-dimensional environment, such as the typical A* algorithm, Ant Colony Algorithm (ACO), Artificial Potential Field Method (APF), etc. Their respective defects, such as the A* algorithm is slow i...

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Problems solved by technology

[0006] Purpose of the invention: Aiming at the current technical problems that AUVs are easily affected by ocean currents when working in complex ocean environments, and the power consumption of underwater robots needs to be considered, this invention proposes an energy-saving underwater path based on the particle swarm algorithm of the re-excitation mechanism The planning method is to use the speed synthesis method to offset the negative influence of the ocean current and make full use of the ocean current, thereby saving the energy of the AUV; at the same time, in order to improve the adaptive ability of the particle swarm algorithm, the underwater improved particle swarm algorithm based on the re-excitation mechanism is used. Then plan an optimal path

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