Research On Underwater Vehicle Penetration Route Design Based On Ta~2 Method

Underwater vehicle has an irreplaceable importance in defending marine belt security,which has a huge deterrent capability in the military affairs field. Whereas our country's strategic development goals, and underwater vehicle penetration's strategic position is so imminent in modern and future war, we should take chances to accelerate the development of submersible penetration technology. This paper presents the related concepts of underwater vehicle penetration systems and focuses on terrain avoidance,threats avoidance and route optimization technology. This is a theory of route designed for penetration. Underwater vehicle route design based on the mission objectives plans to meet the constraints of route trajectory. Route planning technology is a key component of route design for penetration. The goal is to calculate the optimal trajectory within the penetration space by terrain avoidance and threats avoidance techniques. Submersible can quickly and safely complete the scheduled tasks by using screens of sonar blind caused by Earth curvature and topography. The main contents are as follows:Firstly, the article describes the theories and steps of harmony search algorithm and analyses the algorithm astringency. Meanwhile, the best range of four important parameters is obtained by analyzing the parameters of the algorithm, which is based on the simulation results of the optimal algorithm performance.Secondly, this paper applies the thought of cooperative co-evolution to the HS algorithm,and then proposes an improved harmony search algorithm-cooperative harmony search algorithm (CHS). And choose five standard test functions to test the performance of CHS algorithm. The results of the test show that the accuracy and speed of CHS are far superior to the basic HS algorithm, furthermore the CHS algorithm was compared with genetic algorithm and particle swarm optimization, the results show that CHS algorithm is not only high accuracy but also avoids the premature convergence of genetic algorithm and particle swarm optimization.And again,this study by analyzing the terrain avoidance and threats avoidance techniques proposes a terrain avoidance of performance indicators and investigates penetration threat model. Based on analyzing the threat model and the occurrence of threats, two threat modeling methods are put forward included geometry simplification and quantify threats visualization.The former method bypassing the threat depending on the threat models is simple and effective to complete avoidance. The latter method based on the visibility theory has an shielding effect on the fixed terrain threats and improves the least visible points which have the minimum values in the penetration space for the unknown and dynamic threats. The underwater vehicle traveling along the route composed of the minimum threat value of the points avoids threats.Finally,the paper establishes dimensional model of penetration space: geospatial model,threat model, obstacles model and current model. It proposes the fitness mathematical model to design underwater vehicle penetration route and simulate to analyze submarine topography,the constraints of the ocean current and the threat on the route optimization. Then we use CHS algorithm, HS algorithm, genetic algorithm and particle swarm optimization to improve the underwater vehicle penetration paths. The simulation results verify that the feasibility and applicability of CHS algorithm compared with the genetic algorithm and particle swarm optimization on the route planning was better, and the paths that the CHS algorithm planned met the demands of the underwater vehicle penetration.