基于海图建模的水下潜器路径规划分析-(5703)

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8、ngisthekeytechniqueofintelligentnavigationforunderwatervehicle.Lookingforasafeandfastnavigationpathintheoceanwithbothdynamicandstaticobstaclesisthepreconditionforunderwatervehicleoperation.Inordertoplanarouteofunderwatervehicleinthree-dimensionalspaceenvironmentofoceanmoreaccurate,thestudy

9、isdividedintothreeparts.Firstly,tosimulatethe3Doceanenvironment,divideunderwatervehiclepathplanningproblemintostaticglobalpathplanninganddynamicreal-timeobstacleavoidance.Thenintheglobalpathplanning,antcolonyalgorithmisusedtosolvegridpathinsmallgridspace,andQPSOisusedtoplanpathinlargeareao

10、fcomplexoceanenvironment.Finally,toestimatethedynamicobstaclemotionusingKalmanfiltering,andtorepulseawayfromtheobstaclesisbasedontherelativemotionbetweenunderwatervehicleandobstacles.Thearticleinvestigatesmainworkasfollows:Bytheuseofwaterdepthdatainelectronicchart,theunderwater3Denvironmen

11、tmodelofthepathplanningresearchareaisestablished.Extracteddiscretewaterdepthdatapointsfrom2Dvectorelectronicchart,andoriginalwaterdepthdatapointsDelaunaytriangulationnetworkmodelisestablished.AmidpointinterpolationmodelofDelaunaytriangulationisestablishedusingrandommidpointdisplacementmeth

12、odbasedonfractalBrownianmotion.Triangularinsideinterpolationmethodisputforwardtolookupinterpolationpointfast.ThemethodisusedtochangethedispersedDelaunaytriangulationmodeltoregulargriddata.Improvedfractalinterpolationalgorithmisusedtochangethegriddatageneratedthree-dimensionalmodelonunderse

13、a.Antcolonyalgorithmisusedtoglobalpathplanninginsubmarinegridmodelspace.Afterintroducingthebasicprincipleofantcolonyalgorithm,gridmarineenvironmentmodelwhichsuitablefortheantcolonyalgorithmtosolvethepathplanningproblemisestablished.Accordingtothewaterdepthdata