地磁异常影响下的AUV仿生导航方法研究  

Navigation Method of Autonomous Underwater Vehicle with Disturbance Due to Geomagnetic Anomaly Considered

作　　者：刘明雍[1] 李红[1] 刘坤[1] 杨盼盼[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《西北工业大学学报》2015年第4期627-632,共6页Journal of Northwestern Polytechnical University

基　　金：国家自然科学基金(51379176;51179156)资助

摘　　要：针对AUV地磁仿生导航中,由于地磁参量在磁异常区域变化规律异常,搜索算法极易陷入局部极小问题,提出了一种基于地磁参量变化的进化搜索方法。该搜索方法在考虑地磁异常存在的情况下,引入环境变化算子对搜索算法是否进入磁异常区域进行判断,采用方向导引使其避免算法陷于局部极小点,从而摆脱磁异常区域对导航搜索的影响。仿真实验表明,该方法能够使AUV在磁异常影响下从初始位置到达目标位置。A navigation method is presented to drive a network of autonomous underwater vehicle （AUV） to an optimal coverage configuration within the geomagnetic environment. Firstly, the environmental change operator of geomagnetic components is proposed with the disturbance due to geomagnetic anomaly considered. The change operator is used to judge whether the proposed search algorithm works in the geomagnetic anomaly area or not. Secondly, adopting the direction guidance is to avoid being trapped in local minimum point. At last, experimental simulations have been carried out on and the results show the effectiveness of the proposed approach.

关 键 词：地磁仿生导航 进化算法 地磁异常 局部极小 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]