CAJ | 학술논문

针对 AUV 地磁仿生导航中，由于地磁参量在磁异常区域变化规律异常，搜索算法极易陷入局部极小问题，提出了一种基于地磁参量变化的进化搜索方法。该搜索方法在考虑地磁异常存在的情况下，引入环境变化算子对搜索算法是否进入磁异常区域进行判断，采用方向导引使其避免算法陷于局部极小点，从而摆脱磁异常区域对导航搜索的影响。仿真实验表明，该方法能够使 AUV 在磁异常影响下从初始位置到达目标位置。
침대 AUV 지자방생도항중，유우지자삼량재자이상구역변화규률이상，수색산법겁역함입국부겁소문제，제출료일충기우지자삼량변화적진화수색방법。해수색방법재고필지자이상존재적정황하，인입배경변화산자대수색산법시부진입자이상구역진행판단，채용방향도인사기피면산법함우국부겁소점，종이파탈자이상구역대도항수색적영향。방진실험표명，해방법능구사 AUV 재자이상영향하종초시위치도체목표위치。
A navigation method is presented to drive a network of autonomous underwater vehicle (AUV) to an op?timal coverage configuration within the geomagnetic environment. Firstly, the environmental change operator of geo?magnetic components is proposed with the disturbance due to geomagnetic anomaly considered. The change operator is used to judge whether the proposed search algorithm works in the geomagnetic anomaly area or not. Secondly, a?dopting the direction guidance is to avoid being trapped in local minimum point. At last, experimental simulations have been carried out on and the results show the effectiveness of the proposed approach.