Path Planning Of Energy-conservation For Autonomous Underwater Vehicle

With the development of human society, people’s demand for energy is also growing, butthe land oil and gas resources are becoming less and less, so people turn their attention to thevast ocean, which contains a large number of oil and gas resources as well as combustible iceat the bottom of the sea and other energy. But the marine environment is more complex thanthe terrestrial environment a hundred times,, and human understanding of the ocean is verylimited. In this case, the application of intelligent underwater robot by researchers fromdifferent countries is pushed to the exploration of the World Ocean seabed environment onthe stage. Intelligent underwater robot can carry the temperature, salinity, sonar detectioninstrument for collecting marine environment data and topography data, in order to provideinformation to the exploration of seabed resources, as well as in offshore drilling, submarinepipeline laying and maintenance and repair of submarine pipeline. Among them, with nocable detection the range of Autonomous Underwater Vehicle is farther and deeper, so it iswidely used in the detection of seabed terrain, and the robot usually adopts the battery powersupply. At the same time, it also has its own disadvantages: a fully charged battery can onlyrun a limited amount of time. So how to make the unchanged energy to effectively covermore seabed terrain or to accomplish the same mission with less energy become the hot spotof research.In this paper, aiming at how to make energy saving in path planning carried out mainlyon the following three aspects of work:Firstly, set the AUV model with a length of4m and diameter of Rotary’s1m with thereference paper, and the meshing and boundary conditions by using Gambit software. Thencalculate direct resistance value into the model mesh by the Fluent software, and by analyzingthe results, we get two kinds of energy-saving ways: one way is to find a appropriate velocityto satisfy both resistance and energy; The second way is the focus of this article, by the wayof AUV planning implementation is able to maintain a certain terrain coverage under thepremise of the AUV distance shortened and turned to less, this is known as energy-savingpath planning.Secondly, aiming at energy-saving path planning, to achieve full coverage of thesubmarine area coverage requirement, define implicit large bay and its point of entry, exit and the concept of a portal. The way of path planning was improved in the traditional zigzagsearch,and achieve a certain area range of shortened and less turning times.Finally, make a assumption of a seabed area current velocity and flow distribution, andcompare the energy consumption between the improved path planning method and traditionalpath planning from three aspects: direct energy consumption to energy and electricalequipment energy consumption.