哈尔滨工程大学学报
哈爾濱工程大學學報
합이빈공정대학학보
JOURNAL OF HARBIN ENGINEERING UNIVERSITY
2014年
3期
307-312
,共6页
严浙平%邓超%赵玉飞%李本银
嚴浙平%鄧超%趙玉飛%李本銀
엄절평%산초%조옥비%리본은
UUV%路径规划%近海底%粒子群优化算法%避障%测试函数
UUV%路徑規劃%近海底%粒子群優化算法%避障%測試函數
UUV%로경규화%근해저%입자군우화산법%피장%측시함수
UUV%path planning%near sea bottom%PSO%avoid obstacles%test function
针对无人水下航行器( UUV)近海底空间路径规划问题,提出了UUV近海底航行安全深度计算方法。同时,提出一种改进的粒子群优化算法,在粒子进化过程中,根据代价函数的变化,调整粒子进化参数组合。 UUV近海底空间路径规划过程中,将最小安全航行深度作为UUV航行深度,在当前路径点,建立UUV路径规划代价函数,利用改进粒子群算法求取代价函数最小点,作为下一路径点,从而逐步得到UUV 近海底航行路径。仿真结果显示,利用所提方法,可以规划出一条躲避地形威胁和障碍威胁,并近海底航行的有效路径,用于执行UUV近海底航行任务。
針對無人水下航行器( UUV)近海底空間路徑規劃問題,提齣瞭UUV近海底航行安全深度計算方法。同時,提齣一種改進的粒子群優化算法,在粒子進化過程中,根據代價函數的變化,調整粒子進化參數組閤。 UUV近海底空間路徑規劃過程中,將最小安全航行深度作為UUV航行深度,在噹前路徑點,建立UUV路徑規劃代價函數,利用改進粒子群算法求取代價函數最小點,作為下一路徑點,從而逐步得到UUV 近海底航行路徑。倣真結果顯示,利用所提方法,可以規劃齣一條躲避地形威脅和障礙威脅,併近海底航行的有效路徑,用于執行UUV近海底航行任務。
침대무인수하항행기( UUV)근해저공간로경규화문제,제출료UUV근해저항행안전심도계산방법。동시,제출일충개진적입자군우화산법,재입자진화과정중,근거대개함수적변화,조정입자진화삼수조합。 UUV근해저공간로경규화과정중,장최소안전항행심도작위UUV항행심도,재당전로경점,건립UUV로경규화대개함수,이용개진입자군산법구취대개함수최소점,작위하일로경점,종이축보득도UUV 근해저항행로경。방진결과현시,이용소제방법,가이규화출일조타피지형위협화장애위협,병근해저항행적유효로경,용우집행UUV근해저항행임무。
For the purpose of path planning for UUV near sea bottom , a safety depth calculation method for UUV near sea bottom was proposed.Concurrently, a novel particle swarm optimization (PSO) algorithm was proposed, which adjusted the combination of the particle evolution parameters in the process of particle evolution according to the change of the cost function .During the process of UUV path planning , the minimum depth of safe navigation was taken as the UUV navigation depth;at the current path point , a UUV path planning cost function was estab-lished.By using the novel particle swarm algorithm , the minimum point of the cost function was attained and taken as the next path point , thus acquiring the navigation path for the UUV near sea bottom step by step .The simulation results show that by applying the proposed method , an effective path is planned for the UUV near sea bottom , which can keep any terrain threats and obstacles at a distance , allowing the UUV to perform the seafloor navigation task.