多圆碟形水下滑翔机的双层协调三维路径规划

Double-layer coordinated three-dimensional path planning for multiple saucer-type autonomous underwater gliders

本文研究了欠驱动圆碟形水下滑翔机集群在海流干扰和水下碍航物影响下的三维路径规划问题.具体地:第一,根据圆碟形水下滑翔机的航行特点,建立了相应的航行时间模型,设计了三维路径规划的优化目标;第二,提出了一种基于双层协调的多水下滑翔机三维路径规划结构,采用基于三维离散空间的全局路径规划和基于人工势场法的局部路径规划,避免了滑翔机与碍航物以及不同优先级的滑翔机之间发生碰撞;第三,基于双层协调路径规划结构,采用基于量子行为的自适应粒子群优化方法完成了时间最优目标下多圆碟形水下滑翔机的三维路径规划.仿真结果验证了所提多圆碟形水下滑翔机三维路径规划方法的有效性.

This paper studies a three-dimensional path planning problem for multiple under-actuated saucer-type autonomous underwater gliders(AUG) under the infiuence of ocean current and underwater obstructions. Firstly, according to the navigation characteristics of the saucer-type AUGs, a corresponding gliding time model is established, and the optimization target for the three-dimensional path planning method is constructed. Secondly, a three-dimensional path planning structure for multiple AUGs based on double-layer coordination is proposed, which uses a global path planning based on three-dimensional discrete space and a local path planning based on artificial potential field method, such that it can avoid collision among AUGs with different priorities and underwater obstructions. Thirdly, a quantum-behaved adaptive particle swarm optimization is proposed based on the double-layer coordinated path planning structure to complete three-dimensional path planning for multiple saucer-type AUGs under a time-optimal goal. Simulation results verify the effectiveness of the proposed three-dimensional path planning method for multiple AUGs.