多圆碟形水下滑翔机的双层协调三维路径规划  

Double-layer coordinated three-dimensional path planning for multiple saucer-type autonomous underwater gliders

作　　者：王浩亮[1] 卢丽宇 王丹 李文华[1] 刘陆 王安青 WANG Hao-liang;LU Li-yu;WANG Dan;LI Wen-hua;LIU Lu;WANG An-qing(Marine Engineering College,Dalian Maritime University,Dalian Liaoning 116026,China;Marine Electrical Engineering College,Dalian Maritime University,Dalian Liaoning 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]大连海事大学船舶电气工程学院,辽宁大连116026

出　　处：《控制理论与应用》2022年第11期2084-2091,共8页Control Theory & Applications

基　　金：国家自然科学基金项目(61673081,51909021);国家重点研发计划专项(2016YFC0301500);辽宁省教育厅高等学校基本科研项目(面上项目)(LJKZ0044);大连市科技局高层次人才创新项目支持计划项目(2020RQ013);中央高校基本科研业务费专项资金项目(3132020197,3132021109)资助。

摘　　要：本文研究了欠驱动圆碟形水下滑翔机集群在海流干扰和水下碍航物影响下的三维路径规划问题.具体地:第一,根据圆碟形水下滑翔机的航行特点,建立了相应的航行时间模型,设计了三维路径规划的优化目标;第二,提出了一种基于双层协调的多水下滑翔机三维路径规划结构,采用基于三维离散空间的全局路径规划和基于人工势场法的局部路径规划,避免了滑翔机与碍航物以及不同优先级的滑翔机之间发生碰撞;第三,基于双层协调路径规划结构,采用基于量子行为的自适应粒子群优化方法完成了时间最优目标下多圆碟形水下滑翔机的三维路径规划.仿真结果验证了所提多圆碟形水下滑翔机三维路径规划方法的有效性.This paper studies a three-dimensional path planning problem for multiple under-actuated saucer-type autonomous underwater gliders(AUG) under the infiuence of ocean current and underwater obstructions. Firstly, according to the navigation characteristics of the saucer-type AUGs, a corresponding gliding time model is established, and the optimization target for the three-dimensional path planning method is constructed. Secondly, a three-dimensional path planning structure for multiple AUGs based on double-layer coordination is proposed, which uses a global path planning based on three-dimensional discrete space and a local path planning based on artificial potential field method, such that it can avoid collision among AUGs with different priorities and underwater obstructions. Thirdly, a quantum-behaved adaptive particle swarm optimization is proposed based on the double-layer coordinated path planning structure to complete three-dimensional path planning for multiple saucer-type AUGs under a time-optimal goal. Simulation results verify the effectiveness of the proposed three-dimensional path planning method for multiple AUGs.

关 键 词：圆碟形水下滑翔机 三维路径规划 双层协调结构 基于量子行为的自适应粒子群优化方法 人工势场法 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] U674.941[自动化与计算机技术—控制科学与工程]