水下无人系统学报2024，Vol.32Issue(2)：337-344,8.DOI:10.11993/j.issn.2096-3920.2023-0062
基于改进PSO-Lévy算法的海流环境下AUV节能路径规划
Energy-Saving Path Planning for AUVs in Current Environment Based on Improved PSO-Lévy Algorithm
摘要
Abstract
To obtain energy-saving obstacle avoidance paths of autonomous undersea vehicles(AUVs)in the current environment,a three-dimensional dynamic current environment model based on current field velocity information and underwater topographic obstacles was established.The augmented objective function was established based on navigation energy consumption,AUV maneuvering performance,and obstacle constraints,and an improved particle swarm optimization-Lévy(PSO-Lévy)algorithm based on weight adjustment mechanism and random wandering mechanism was proposed.The parameter adjustment strategy based on the optimal damping ratio and the random step wandering strategy based on the Lévy-flight process were introduced into the PSO algorithm.By executing a long-step wandering operation and regulating the velocity inertial of particles with a certain probability,the PSO algorithm could get a longer step and jump out of the local optimum.The simulation results show that the proposed algorithm can plan the optimal path with low energy consumption according to the current information while effectively avoiding obstacles.关键词
自主水下航行器/动态海流/路径规划/能耗Key words
autonomous undersea vehicle/dynamic current/path planning/energy consumption分类
军事科技引用本文复制引用
杨惠珍,王子江,周卓彧,杨钧,李建国..基于改进PSO-Lévy算法的海流环境下AUV节能路径规划[J].水下无人系统学报,2024,32(2):337-344,8.基金项目
水下信息与控制全国重点实验室基金项目(2021-JCJQ-LB-030-03). （2021-JCJQ-LB-030-03）
