基于海洋环境的多AUV协同探测路径规划技术研究.pdfVIP

关键词：多AUV探测，区域覆盖，目标搜索，路径规划，蚁群算法，隐马尔可夫模型

Abstract

Inrecentyears,withthedevelopmentofautonomousunderwatervehicles,underwateracoustic

targetdetectionhasbecomeoneofitsmainapplications.ComparedwithsingleAUVdetection,a

clustercomposedofmultipleAUVsnotonlyhasstrongfaulttolerance,butalsoimprovesthe

effectivenessofmissionoperations.Consideringthatthemarineenvironmentiscomplexand

changeable,sonardetectionperformancedependsontheimpactofthemarineenvironment.The

effectiveapplicationofmarineenvironmentalinformationtoAUVpathplanningandsonarprocessing

toimprovedetectionefficiency/AUVsownconcealmenthasbecomeoneofthekeyanddifficult

problemsinunderwateracousticengineeringresearchinrecentyears.Inthispaper,basedonthe

problemofmulti-AUVcoordinateddetectionbasedonthemarineenvironment,theresearchonpath

planningtechnologyiscarriedout.Thespecificresearchcontentisasfollows.

First,accordingtothedifferenttypesandrequirementsoftargetdetectiontasks,theproblemsare

dividedintotwotypes:areacoverageproblemsandtargetsearchproblems.Thisarticlefirststudies

theareamaximumcoverageproblem,usesenvironmentalinformationtoanalyzethedetection

capabilitiesofnodesatdifferentlocationsinthearea,constructsthesoundfieldineachdirectionof

thenode,andconvertsthepropagationlossintothedetectionprobabilitythroughthesonarequation,

andthenconvertedintodetectionradiusaccordingtothedetectionprobabilitythreshold.Usingthe

detectionradiusinformation,designamulti-AUVpathplanningmethodbasedontheantcolony

algorithm,inwhichtheA*algorithmisintroducedtopreventtheantsfromfallingintolocalextreme

pointsduringthepathfin