基于洋流信息的水下航行器路径规划方法

2011 Fourth International Joint Conference on Computational Sciences and Optimization Pub Date : 2011-04-15 DOI:10.1109/CSO.2011.51

Chang Liu, Yan-ling Hao, Feng Gao

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引用次数: 2

摘要

提出了一种基于洋流信息的水下航行器路径规划新方法。考虑海流对路径规划的影响，利用历史统计海流数据生成海流环境场。为了规划出更符合人们意愿的路径，提出了辅助路径点的概念。在综合考虑路径的安全性和经济性的基础上，设计了评价函数，利用粒子群算法对水下航行器的全局路径规划进行了优化。仿真结果表明，规划的航迹更接近实际航迹。

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A Path Planning Method for Underwater Vehicle Based on Ocean Current Information

A new path planning based on ocean Current information method for underwater vehicle was proposed. Considering the impact of ocean Currents in the path planning and the currents environmental field is generated using the historical statistical currents data. In order to plan out the path closer to people's wishes, the concept of assistant path point is proposed. After designing the evaluation function by considering the safety and economy of the path, Particle Swarm Optimization (PSO) algorithm was used for optimization of the global path planning for underwater vehicle. Simulation result shows that the planning path is closer to the real sailing track.

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2011 Fourth International Joint Conference on Computational Sciences and Optimization

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