Abstract:

For the local optimal problem of the search algorithm with the disturbance by geomagnetic anomaly, a novel navigation method for autonomous underwater vehicle (AUV) is proposed from the information entropy. This method utilizes the variation of headings to represent the entropy values, and judges whether the evolution algorithm is trapped into the geomagnetic anomaly area based on the preset threshold. If the algorithm is trapped into the geomagnetic anomaly area, the method adopting the direction with the maximum probability mechanism is used to avoid trapping into the local minimum point. Experimental results and their analysis preliminarily demonstrate that the proposed method is able to achieve the navigational task.