变化海流环境下AUV能量最优三维路径规划

doi:10.12305/j.issn.1001-506X.2021.12.30

系统工程与电子技术 ›› 2021, Vol. 43 ›› Issue (12): 3667-3674.doi: 10.12305/j.issn.1001-506X.2021.12.30

变化海流环境下AUV能量最优三维路径规划

李亚南¹, 黄海滨¹, 陈亮名², 庄宇飞^1,*, 王晓丽¹

1. 哈尔滨工业大学(威海)信息科学与工程学院, 山东威海 264209
2. 南洋理工大学机械与航天工程学院, 新加坡 639788

收稿日期:2020-08-13 出版日期:2021-11-24 发布日期:2021-11-30
通讯作者: 庄宇飞
作者简介:李亚南(1994—), 女, 博士研究生, 主要研究方向为水下传感器网络数据采集|黄海滨(1983—), 男, 讲师, 博士, 主要研究方向为无人系统自主运行、船舶运动控制、路径规划|陈亮名(1993—), 男, 研究员，博士后, 主要研究方向为刚性理论和多智能体编队控制|庄宇飞(1981—), 女, 讲师, 博士, 主要研究方向为欠驱动航行器路径规划|王晓丽(1981—), 女, 教授, 博士, 主要研究方向为多智能体系统覆盖控制研究、分布式控制与优化
基金资助:
“十三五”海洋经济创新发展示范项目(国海科字[2017]280号);山东省重点研发计划(2019JMRH03* *);山东省重大科技创新工程(2019JZZY020702);山东省自然科学金(ZR2018MF026);山东省自然科学金(ZR2020ME265)

Energy-optimal three-dimensional path planning for AUV under changing ocean current environment

Yanan LI¹, Haibin HUANG¹, Liangming CHEN², Yufei ZHUANG^1,*, Xiaoli WANG¹

1. School of Information Science and Engineering, Harbin Institute of Technology(Weihai), Weihai 264209, China
2. School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639788, Singapore

Received:2020-08-13 Online:2021-11-24 Published:2021-11-30
Contact: Yufei ZHUANG

摘要/Abstract

摘要：

为获取变化海流环境下自主水下航行器(autonomous underwater vehicle, AUV)的能量最优路径, 基于最优控制理论提出一种用于AUV的三维能量最优路径规划算法。首先, 为了有效抑制海流对路径规划的影响, 将海流向量加入到AUV运动学模型中。其次, 在已知俯仰角及AUV位置的情况下, 利用庞特里亚金极小值原理, 获得能量最优控制律。最后, 利用线性定常系统的状态空间理论, 计算得到初始艏向角、航速以及能量消耗。在仿真环节, 通过与负反馈控制策略相比较, 说明所提算法能够规划出三维能量最优路径, 而且可以有效降低AUV的能量消耗。

关键词: 水下自主航行器, 能量最优路径规划, 变化海流, 最优控制

Abstract:

In order to obtain the energy optimal path of autonomous underwater vehicle (AUV) in changing ocean current environment, a three-dimensional energy optimal path planning algorithm for AUV is proposed based on the optimal control theory. Firstly, in order to effectively suppress the influence of ocean current on path planning, ocean current vector is added to AUV kinematics model. Secondly, when the pitch angle and AUV position are known, the energy optimal control law is obtained by using Pontryagin minimum principle. Finally, the initial heading angle, speed and energy consumption are calculated by using the state space theory of linear steady system. In the simulation part, compared with the negative feedback control strategy, it shows that the proposed algorithm can plan the three-dimensional energy optimal path, and can effectively reduce the energy consumption of AUV.

Key words: autonomous underwater vehicle (AUV), energy-optimal path planning, variant ocean currents, optimal control theory

中图分类号:

TM761

李亚南, 黄海滨, 陈亮名, 庄宇飞, 王晓丽. 变化海流环境下AUV能量最优三维路径规划[J]. 系统工程与电子技术, 2021, 43(12): 3667-3674.

Yanan LI, Haibin HUANG, Liangming CHEN, Yufei ZHUANG, Xiaoli WANG. Energy-optimal three-dimensional path planning for AUV under changing ocean current environment[J]. Systems Engineering and Electronics, 2021, 43(12): 3667-3674.

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控制量	海流/(m/s)
控制量	v_c	5v_c	10v_c	20v_c
起点海流大小/(m/s)	0.14	0.70	1.40	2.80
终点海流大小/(m/s)	0.24	1.19	2.38	4.75
海流最大值/(m/s)	0.28	1.38	2.76	5.52
航速/(m/s)	0.26	1.30	2.61	5.21
航行终止时间/s	483.54	96.71	48.35	24.17
最优控制消耗能量/J	32.69	163.44	329.36	656.07
负反馈控制消耗能量/J	237.12	2 376.00	8 904.60	35 147.00

控制量	俯仰角/rad
控制量	π/3	π/4	0.99
航速/(m/s)	2.61	5.80	2.95
艏向角/rad	-156.71	38.34	-162.93
航行终止时间/s	483.55	208.89	419.46
能量/J	3 293.99	7 027.06	3 650.35

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变化海流环境下AUV能量最优三维路径规划

Energy-optimal three-dimensional path planning for AUV under changing ocean current environment

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