能量优化的D* AUV路径规划与避障和洋流环境

IF 1.9 4区 工程技术 Q2 ENGINEERING, MARINE
Bing Sun, Wei Zhang, Shiqi Li, Xixi Zhu
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引用次数: 5

摘要

对于自主水下航行器(auv)在海洋环境下的路径规划,除了规划路径长度和安全避障外,还需要考虑洋流对规划路径的影响。因此,本文对原有的D*算法进行了改进,在原有代价函数的基础上增加了障碍物代价项和转向角度代价项作为约束,从而保证了AUV的航行安全。考虑到洋流对AUV的能耗影响较大,本文建立了洋流对AUV能耗影响的成本模型,并将其应用到D*路径规划算法中,使AUV能够利用洋流降低能耗,通过仿真实验可以看出这一点。仿真结果表明,改进后的算法可以规划出最优的能耗路径。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Energy optimised D* AUV path planning with obstacle avoidance and ocean current environment
Abstract For the path planning of autonomous underwater vehicles (AUVs) in the ocean environment, in addition to the planned path length and safe obstacle avoidance, it is also necessary to pay attention to the impact of ocean currents on the planned path. Therefore, this paper improves the original D* algorithm, and adds the obstacle cost item and the steering angle cost item as constraints on the basis of the original cost function, thus ensuring the navigation safety of the AUV. Considering that ocean currents have a greater impact on the energy consumption of AUVs, this paper establishes a cost model for the impact of ocean currents on AUV energy consumption and applies it to the D* path planning algorithm, so that AUVs can use ocean currents to reduce energy consumption, which can be seen through simulation experiments. The simulation results show that the improvement of the algorithm can plan an optimal energy consumption path.
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来源期刊
Journal of Navigation
Journal of Navigation 工程技术-工程:海洋
CiteScore
6.10
自引率
4.20%
发文量
59
审稿时长
4.6 months
期刊介绍: The Journal of Navigation contains original papers on the science of navigation by man and animals over land and sea and through air and space, including a selection of papers presented at meetings of the Institute and other organisations associated with navigation. Papers cover every aspect of navigation, from the highly technical to the descriptive and historical. Subjects include electronics, astronomy, mathematics, cartography, command and control, psychology and zoology, operational research, risk analysis, theoretical physics, operation in hostile environments, instrumentation, ergonomics, financial planning and law. The journal also publishes selected papers and reports from the Institute’s special interest groups. Contributions come from all parts of the world.
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