Path Planning Method Based On The Algorithm Of PSO And Elastic Rope Underwater Vehicle In Three-dimensional Space

As countries pay more and more attention to marine resources，underwatervehicle plays increasingly important role in the development of marine resources,military reconnaissance and submarine deep submergence rescue etc, and pathplanning of underwater vehicle in the route design belong to the three-dimensionalspace, is one of the key technologies of deep-sea sailing, reasonable design routes,navigational safety, fuel utilization and time savings, plays a vital role. Currently, thethree-dimensional space path planning there are computationally intensive, longcomputation time, wayfinding accuracy and low this paper for underwater vehicle inthree-dimensional space path planning problems in depth.To improve the three-dimensional path planning wayfinding accuracy and reducethe computation time, the proposed the an elastic rope movement nature-basedthree-dimensional path planning-elastic rope algorithms, the method by simulatingthe real world elastic rope exercise, the elasticrope abstracted into athree-dimensional space in the path under the contraction of the elastic cord itself, canbe quickly and accurately search to a shortest collision-free path.First, the mathematical modeling of elastic cord in the real world, a elastic ropealgorithms formula, is given according to this formula the algorithm computation stepsof the elastic cord; detailed analysis and prove the convergence of the algorithmelastic rope given elastic ropeenergy convergence theorem, the sport convergencetheorem and the length of the convergence theorem and its proof process.Then, according to the Banach contraction mapping principle analysis of theelastic rope algorithm convergence speed, convergence theorem is derived and theelastic rope is proved, When the number of elastic rope point identification, thereexists a constantk*∈(0,1), When the resistance coefficient of elastic ropealgorithmk=k*, The convergence speed of the algorithm is the fastest. When theresistance coefficient k meet0<k <k*, the value of k is more greater, theconvergence speed is more fast; When the resistance coefficient k meetk*<k<1the value of k is more greater, the convergence speed is more slow. The theoremalso gives the calculation formula ofk*. Meanwhile, in order to verify the correctnessand validity of the algorithm of the elastic cord, designed a the elastic rope calculationmethod applied in spherical obstacle environment, and through simulation experiments to verify the correctness of the algorithm’s convergence theorem andconvergence rate theorem draw elastic rope algorithm can be quickly and accuratelyfind the shortest path in partial spherical environment conclusions.Finally, the elastic rope algorithms used in the real undersea terrain environment,given the algorithm for the calculation of the elastic rope3D elevation data, simulationexperiments show that the elastic rope algorithm can effectively complete the pathplanning task in the environment of submarine topography, to quickly find athesmooth and accurate three-dimensional seabed path. Lack of algorithms for theelastic rope global optimization capability, put forward a elastic rope algorithm andparticle swarm algorithm for path planning method of the combination ofthree-dimensional space, and the method used in the the path search operation in theundersea terrain environment, the experimental results showed that sufficientconditions of the operation time, the algorithm can be accurately search pathfindingarea within the global shortest path.