Research On Mission Planning And Evaluation Method Of Multi-function UUV

Unmanned underwater vehicle (UUV) is one of the most important technologies to explore the ocean space marine, by virtue of its high safety and reliability, low consumption cost, independent high intelligence advantage gradually become the object of study of the national focus on. However, as the mission planning technology is one of the important technology of UUV to implement a number of underwater tasks to a great extent, marks the intelligent level of UUV, therefore, the task planning become UUV important link and become a difficult problem. In this paper, UUV performs several underwater mission as an example, the multifunctional UUV mission planning and evaluation method of the demand,carried out the research of construction and other aspects of the UUV science mission text description, global path planning, mission planning system modeling, task planning and evaluation method of design and mission planning simulation platform.Firstly: research and Analysis on the uncertainty of time of multifunctional UUV performs several water in unknown, marine environment encountered by the mission, and gives a certain control method; based on job requirements according to UUV practice,application of XMLSPY software to complete the multi function UUV Language Science Mission description based on XML.Secondly; considering the requirements of the UUV performs several underwater task time sequence,lanning, a genetic optimization algorithrr is designed,which successfully make UUV traverse each task while traveling the shortest path and least time,and improve working efficiency of UUV; Then genetic algorithm is improved on the deficiencies and the improved genetic algorithm is applied to the UUV path planning to implement the UUV to avoid obstacles in the course of the campaign meanwhile passing through the shortest path,consuming the least amount of energy, and provide a global optimal path planning for UUV.Again: The UUV mission planning process is modeled using Petri nets against the background that UUV performs several tasks so that the UUV possess the basis to deal with uncertainty event. On the basis of this model the task planning method is proposed based on HTN, which proves that the method has small computational requirements, sub task sharing,planning to good efficiency in the UUV task planning.Finally: The construction of multifunctional UUV mission planning simulation platform is completed, and correctness and reliability of the planning algorithm and programming method is verified through the simulation platform.Eventually,this section will introduce the assess method of evidential reasoning to the UUV mission planning system effectiveness evaluation, to provide decision support for the selection and optimization of the UUV mission planning scheme.