Underwater route planning method and device for underwater vehicle under multi-constraint condition

An underwater vehicle and multi-constraint technology, applied in the direction of measuring devices, instruments, navigation, etc., can solve the problems of not considering the concealment of the route and the low safety of the planned path, and achieve the effect of superior concealment and economy

Pending Publication Date: 2021-11-05
北京中安智能信息科技有限公司
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  • Claims
  • Application Information

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Problems solved by technology

However, in related technologies, the concealment of the route is often not taken into account, so that the security of the final planned route is relatively low.

Method used

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  • Underwater route planning method and device for underwater vehicle under multi-constraint condition
  • Underwater route planning method and device for underwater vehicle under multi-constraint condition
  • Underwater route planning method and device for underwater vehicle under multi-constraint condition

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Embodiment Construction

[0042] Various exemplary embodiments, features, and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0043] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as superior or better than other embodiments.

[0044] In addition, in order to better illustrate the present application, numerous specific details are given in the following specific implementation manners. It will be understood by those skilled in the art that the present application may be practiced without certain of the specific details. In some instances, methods, means, co...

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Abstract

The invention relates to an underwater route planning method and device for an underwater vehicle under multi-constraint conditions. The method comprises steps of constructing a three-dimensional space model for a task region of the underwater vehicle, and obtaining the path distance heuristic information, the detected probability information and the pheromone heuristic information of the underwater vehicle; searching a feasible path of the underwater vehicle in the three-dimensional space model by using a heuristic function; wherein the heuristic function is constructed based on path distance heuristic information, detected probability information and pheromone heuristic information; and evaluating the feasible paths, and selecting a final navigation path from the feasible paths. In the path planning of the underwater vehicle, the detected probability, path length and other factors of the underwater vehicle are comprehensively considered, and the ant colony algorithm mode is adopted, so concealment of the searched feasible path is greatly improved.

Description

technical field [0001] The present application relates to the technical field of aircraft path planning, and in particular to a method and device for underwater route planning of underwater vehicles under multiple constraint conditions. Background technique [0002] When planning the navigation path of existing underwater vehicles, it is usually based on constraints such as the navigable area and the constraints of the underwater vehicle itself, with the navigation distance as the optimization goal. However, since underwater vehicles have higher and higher requirements for concealment performance, it is necessary to take the concealment of the route as the first element in route planning for underwater vehicles. However, in related technologies, the concealment of the route is often not taken into consideration, so that the safety of the final planned route is relatively low. Contents of the invention [0003] In view of this, the present application proposes an underwate...

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Application Information

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IPC IPC(8): G01C21/20G05D1/10
CPCG05D1/10G01C21/203
Inventor 陆桦
Owner 北京中安智能信息科技有限公司
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