Research On The Collaborative Mission-planning Method Of UUVs In Marine Environment

In the marine environment,UUV cluster collaborative mission planning is a planning problem of intelligent systems under multiple constraints.This paper mainly studies the multi-objective optimization problem under UUV cluster system,and assigns tasks to the corresponding UUV reasonably.After the assignment of the corresponding tasks,UUV performs tasks in the marine environment.This paper has carried out in-depth deployment of UUV cluster cooperative tasks,task redistribution,UUV cluster route planning,etc.under multi-task objectives,communication delays,obstacle conditions.Aspect research.The specific research contents of UUV cluster collaborative task planning are as follows:Firstly,the key and difficult problems of UUV task planning in marine environment are analyzed,and the optimization theory and task allocation model are introduced.In addition,the distributed architecture,grid model of environment and pre-sonar model are constructed.Besides,the communication environment of UUV is dissected,which can provide the foundation for the follow-up study.Secondly,aiming at the task planning of UUV cluster system for multi-task target optimization,an improved contract network optimization algorithm based on market mechanism is proposed.According to the multi-ant colony algorithm designed by multi-objective optimization function and the contract network optimization algorithm,combined with the boundary conditions set in this paper,the mission assignment method based on improved contract network optimization algorithm is studied.Finally,the traditional contract network algorithm and the improved contract net algorithm are compared and the simulation of one UUV failure is taken as an example.The simulation results show that the improved algorithm can effectively improve the overall performance of the UUV cluster system,so that each UUV is balanced to undertake specific tasks.Thirdly,aiming at the task allocation problem of UUV under the condition of communication delay,a dual redundancy communication information transmission method based on position and speed is proposed.In order to judge the timeliness of task allocation,the task type of UUV is set to form a word formation,which can intuitively see whether the system is stable and convergent.Then the error equation matrix is established according to the state error.According to the stability criterion of Lyapunov matrix,the boundary conditions for the formation of stable convergence of UUV are determined.Then,under the conditions of simultaneous and different delays,a simulation model is established to verify the stability ofthe system.On this basis,a simulation example is designed to verify the validity and stability of the task allocation method designed in this chapter in the case of time delay,according to the absence of velocity state information and unknown external disturbances.Finally,an improved artificial potential field method is proposed for obstacle collision avoidance in unknown environment.Firstly,according to the environmental information acquired from UUV by forward-looking sonar sensor,the spatial and temporal collision hazards are calculated by distance.Then,according to the artificial potential field model,the gravitational potential energy function and repulsive potential energy function are established.Then,according to the resultant potential energy function,the UUV motion direction is obtained to ensure the UUV safety problem,and the UUV safely passes through the obstacle area.Aiming at the problem of target unreachable point,an improved artificial potential field method is proposed.Finally,the design simulation experiment shows that the designed artificial potential field optimization algorithm can search all the target points and safely avoid obstacles.