Path Planning And Visual Platform Design Based On The Underwater Glider

Marine observation is the basis of all Marine work.Through the use of modern technology and equipment to supervise and manage the Marine environment,the scientific and digital degree of Marine environmental information can be improved.Underwater glider as a new type of underwater vehicle,low energy consumption and concealment is strong,can perform a wide range,underwater observation mission for a long period of time,so for the underwater glider design reasonable observation path can improve the independent ability and security of the equipment,to strengthen the construction of Marine research level and the defense has the very vital significance.In this thesis,the motion principle and kinematics model of the underwater glider are briefly analyzed to provide reference for the model selection and parameter setting of the planning algorithm.Secondly,the actual Marine environment information was modeled,and on this basis,A* and D* Lite global path planning algorithms and dynamic window local path planning algorithms were compared and analyzed from the perspective of path length and search time.Then,the method of parameter optimization and algorithm fusion is used to improve the algorithm,and the path planning with low energy consumption and high safety is realized.Finally,an implementation method of the shore-based control platform based on the underwater glider is proposed.This thesis provides a reference for the path planning and visualization platform implementation of the underwater glider.The main work and innovations are as follows:(1)Four evaluation parameters of dynamic window algorithm were studied,a speed weight parameter optimization method based on motion limit and a combined parameter setting strategy were proposed,which effectively improved the obstacle avoidance ability and operation efficiency of the algorithm to deal with complex environment information by considering the influence of the braking performance of equipment and evaluation parameters.In addition,an improved A* and dynamic window algorithm for global dynamic path planning is proposed,which makes up for the shortcomings of the two algorithms,achieves good dynamic correction ability and global optimality,and greatly improves the efficiency and path planning ability of the algorithm.(2)A shore-based control platform based on underwater glider is designed and developed.This thesis presents a scheme of chart visualization which can meet the requirements of various working environments,and develops the functions of graph plotting and data visualization.