Research On Path Planning With Multi-constraint In Space-time Environment Of AUV

With the development of science and technology,smart life and intelligent transportation have become the main trend of the society.As a kind of intelligent robots,autonomous underwater vehicle(AUV)has great potential for application in both the exploration and development of ocean resources and intelligence collection,monitoring in military and other fields.The path planning of AUV is an important part of research on AUV.It plays an important role in navigation safety and work efficiency of AUV,which highlights the importance of path planning of AUV.In order to improve the safety of AUV navigation in space-time environment and achieve the intelligent navigation of AUV in the space-time environment,AUV 3D environment model,space-time environment model and path planning cost model were established.AUV path planning was implemented by using path planning method based on spatial stratification.And the optimal path of AUV in 3D environment and space-time environment were designed respectively.The multi-constraint function for path optimization was established,and bidirectional progressive search linearization algorithm for path optimization was designed to realize the linearization of the planned path.The proposed path planning method can not only solve the problem of AUV path planning in 3D environment,but also can be applied to the path planning of AUV in the space-time environment,providing a theoretical basis for the intelligent navigation.The main factors that affect the safety of AUV navigation in the marine environment were analyzed,and the 3D environment model for AUV was established.Based on the 3D environment model,the objective function of path planning was established,and the path planning problem of AUV in 3D environment was transformed into the minimum of multivariate nonlinear function.Because of the complexity of the model,it is difficult to solve the conventional path planning method.In order to carry out path planning research in 3D space,a path planning method based on spatial stratification was proposed.By this method,3D space path planning under the influence of static obstacles such as ocean topography was carried out to verify the effectiveness of the proposed path planning method.In order to achieve collision avoidance between AUV and dynamic obstacles,an AUV space-time environment model was established.The dritical moment of collision between AUV and dynamic obstacles was analyzed and AUV collision detection module was designed.Besides,the AUV collision avoidance strategy was proposed.The collision avoidance between AUV and dynamic obstacles was achieved.The space-time environment path planning under the influence of single dynamic obstacle and multiple dynamic obstacles were studied in turn,and the optimal path under different conditions was planned out.In order to improve the applicability of the planning path,the constraints for path optimization were analyzed.On the basis of it,a multi-constraint function for path optimization was constructed.A bidirectional progressive search linearization algorithm for path optimization was designed to linearly process the planned path.The number of turning points of the planned path was effectively reduced,which can improve the practical value of the planned path.