液压与气动2025，Vol.49Issue(11)：98-106,9.DOI:10.11832/j.issn.1000-4858.2025.11.011
基于能耗约束的水下航行器路径规划与浮力调节系统优化
Underwater Vehicle Path Planning Under Energy Consumption Constraints and Optimization of Buoyancy Regulation System
李少晗 1高轶 2袁畅 3李宝仁 3张建星3
作者信息
- 1. 海军工程大学,湖北武汉 430030||海装装备项目管理中心,北京 100071
- 2. 海装装备项目管理中心,北京 100071
- 3. 华中科技大学,湖北武汉 430074
- 折叠
摘要
Abstract
The paths optimized by the traditional ant colony algorithm have the problem that"the distance is the shortest but the energy consumption is not the lowest."In order to ensure that the search path of the underwater vehicle in the complex marine environment meets the requirements of the lowest energy consumption and the shortest path,it is necessary to analyze the energy consumed by the buoyancy regulation system,pitch regulation system and depth-stabilized propulsion system of the underwater vehicle during their operation,and add energy consumption constraints to the ant colony algorithm.By establishing a grid-based environment map,we simulate and analyze the differences in results under the two optimization methods.The simulation results show that although the path length and the number of turning points under the energy consumption constraint are slightly higher than those under the shortest path constraint,but the energy consumption level is decreased by 22％to 24％,which is more conducive to the navigation of underwater vehicles.Since the buoyancy regulation system accounts for a large proportion of energy consumption,it is necessary to optimize the buoyancy regulation system into a dual-loop system consisting of the surface circuit and the underwater circuit,in order to avoid the problem of inconsistent oiling efficiency points of the initial single-pump design at different depths.The experiment shows that the energy consumption level and the maximum current of the dual-circuit buoyancy regulation system on both the surface and underwater are significantly improved,and the energy consumption of the optimized buoyancy regulation system is decreased by 63％to 65.2％,which reduces the risk of damage to the internal circuit components of the underwater vehicle.关键词
水下航行器/静态障碍/能耗约束/蚁群算法/浮力调节系统Key words
underwater vehicle/static disturbance/energy consumption constraint/ant colony algorithm/buoyancy regulating system分类
机械工程引用本文复制引用
李少晗,高轶,袁畅,李宝仁,张建星..基于能耗约束的水下航行器路径规划与浮力调节系统优化[J].液压与气动,2025,49(11):98-106,9.
