Path planning and dynamic update method for collaborative underwater target search between rov and mother ship

Abstract

A method for planning and dynamic updating of an underwater target search path coordinated by an ROV and a mother ship, comprising the following steps: calculating a path point of the surface mother ship according to a provided search area, and planning the motion path of the surface mother ship; the surface mother ship moves to the way point; Under the condition that the relative relationship between the ROV and the surface mother ship is normal, the current search sub-area is rasterized for the first time. The first layer of grid is the ROV global path planning layer. The biological excitation neural network algorithm is used for the first layer of grid. Carry out global path planning and dynamic update; the first layer of grid is rasterized for the second time, and the second layer of grid is the ROV path dynamic update layer, which realizes the local trajectory planning and dynamic update of the ROV, and judges whether the ROV is triggered in real time. The second-layer grid dynamic update condition is set until the current first-layer grid search is completed. This design achieves full coverage of the search area by forward-looking sonar while ensuring the safe operation and search efficiency of ROV.

Description

technical field [0001] The invention relates to the technical field of underwater target search and detection, in particular to a method for planning and dynamically updating an underwater target search path coordinated by an ROV and a mother ship. Background technique [0002] With the increase of maritime transportation activities and the development of marine resources, it is of great significance to improve the underwater salvage and exploration capabilities to ensure the safety of water transportation and marine engineering. In recent years, the development of underwater robots is aimed at deep sea operations. The operational ROV (remotely operated unmanned submersible) communicates with the surface mother ship through the umbilical cable, but the umbilical cable is very fragile, and due to the limitation of the umbilical cable, the ROV and the surface mother ship The relative positional relationship also requires certain safeguards. Therefore, planning the search path...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to overcome the defects and problems in the prior art that the cooperative search capability between the ROV and the surface mother ship is poor, and the forward-looking sonar equipped with the ROV cannot fully cover the search area, and provide a method for ensuring the safety of the ROV. Under the condition of operation and search efficiency, ROV and mother ship cooperative underwater target search path planning and dynamic update method to achieve full coverage of the search area by forward-looking sonar

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