基于AQPSO算法的圆碟形水下滑翔机路径规划  

Path Planning of Saucer-type Autonomous Underwater Glider Based on AQPSO Algorithm

作　　者：王浩亮[1] 王成林 张春来[1] 吴韵哲 王丹 徐富鑫 WANG Haoliang;WANG Chenglin;ZHANG Chunlai;WU Yunzhe;WANG Dan;XU Fuxin(Dalian Maritime UniversityMarine Engineering College,Liaoning Dalian 116026,China;Dalian Maritime University Information Science and Technology College,Liaoning Dalian 116026,China;Dalian Maritime University,Marine Electrical Engineering College,Liaoning Dalian 116026,China)

机构地区：[1]大连海事大学轮机工程学院,辽宁大连116026 [2]大连海事大学信息科学技术学院,辽宁大连116026 [3]大连海事大学船舶电气工程学院,辽宁大连116026

出　　处：《船舶工程》2020年第2期13-19,27,共8页Ship Engineering

基　　金：国家自然科学基金(61673081,51579023);辽宁省自然科学基金指导计划(20180550684);辽宁省高校创新性人才计划(LR2017014);大连市杰出青年科技人才计划(2018RJ08);大连高层次人才创新创业计划(2016RQ036);交通运输行业高层次人才培养项目(2018-030);国家重点研发计划重点专项(2016YFC0301500);中央高校基本科研业务费(3132016313,3132018306);中国博士后科学基金(2019M650086)。

摘　　要：为解决复杂海洋环境影响下圆碟形水下滑翔机的路径规划问题,采用多黏性Lamb涡叠加方法模拟洋流环境模型。以最小能量消耗为优化目标,结合B-spline方法生成光滑的曲线路径,采用自适应性基于量子行为的粒子群优化算法对圆碟形水下滑翔机的路径选择进行优化求解。将该算法与粒子群优化算法和基于量子行为的粒子群优化算法相对比,仿真结果验证了各算法在求解航行路径问题方面的有效性。此外,基于能耗最优原则分析各算法的适用性。In order to solve the problem of the path planning of the saucer-type autonomous underwater glider in the complex ocean environment,using multi-viscous lamb vorticity superposition method to establish a marine environment model.Employing the goal which is to optimize the minimum energy consumption,combining the B-spline method to generated the smooth curve,using the adaptive quantum-behaved particle swarm optimization to select the optimized solution of the path of the saucer-type autonomous underwater glider,and comparing with the particle swarm optimization and quantum-behaved particle swarm optimization.The simulation result proves that the validity of the path based on optimal energy which is generated by the above algorithm.Additionally,based on the energy consumption optimal principle,the applicability of each algorithm is analyzed.

关 键 词：圆碟形水下滑翔机 路径规划 洋流 能量消耗 优化算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]