基于改进灰狼群优化算法的水下机器人海底电缆定位算法  

Submarine cable localization algorithm for underwater robots based on improved grey wolf optimization algorithm

作　　者：黄文超 温锦嵘 徐哲壮[1] HUANG Wen-chao;WEN Jin-rong;XU Zhe-zhuang(College of Electrical Engineering and Automation,Fuzhou University,Fuzhou 350108,China)

机构地区：[1]福州大学电气工程与自动化学院,福州350108

出　　处：《控制与决策》2025年第1期87-94,共8页Control and Decision

基　　金：国家自然科学基金项目(61973085)。

摘　　要：随着海上风力发电和光伏发电的快速发展,海洋输电工程的地位越来越重要,海底电缆的应用也越来越广泛.获得精确的海底电缆位置不仅有利于日常巡检,而且提高了故障检测的效率,因此,海底电缆的路由定位和故障检测将会是未来维护和维修的重要环节.由于海底电缆的小直径和内部电流的变化性,导致定位准确度的下降以及定位难度的上升.针对上述问题,首先,基于海底环境和水下机器人,利用三芯铠装海底电缆的电缆结构推导海底电缆外磁场的近似方程;然后,水下机器人根据检测到的磁感应强度值进行姿态调整,在此基础上,提出一种基于改进灰狼优化算法(improved grey wolf optimization,IGWO)的海底电缆定位算法,利用基于磁通密度模的适应度函数,设计一种用于海底电缆探测的在线路径定位方法;最后,通过仿真实验验证了IGWO算法实现海底电缆定位的精确性和有效性.With the rapid development of offshore wind power and photovoltaic power generation,the importance of marine power transmission projects is increasing and the application of submarine cables is also becoming increasingly widespread.Accurate identification of the location of submarine cables is not only beneficial for routine inspections but also enhances the efficiency of fault detection.Therefore,the routing,positioning,and fault detection of submarine cables will play a crucial role in future repair and maintenance operations.The small diameter of submarine cables and the variability of internal currents have led to a decrease in positioning accuracy and an increase in positioning difficulty.To address the aforementioned issues,this paper first derives the approximate equation for the external magnetic field of submarine cables based on the underwater environment and underwater robotics,utilizing the cable structure of three-core armored submarine cables.The underwater robotic system performs attitude adjustments based on the detected magnetic induction intensity values.Building upon this,a submarine cable positioning algorithm is proposed using an improved grey wolf optimization(IGWO)algorithm.The algorithm utilizes a fitness function based on the magnetic flux density model and incorporates an online path localization method specifically designed for submarine cable detection.Finally,the accuracy and effectiveness of the IGWO algorithm are validated through simulation experiments.

关 键 词：改进灰狼优化算法 海底电缆 电磁定位 水下机器人 电磁探测 电磁场传播 

分 类 号：TM614[电气工程—电力系统及自动化] TM615