Research On Path Planning Of UUV In Complex 3D Environment

With the rapid development of industrial civilization and the over-exploitation of terrestrial resources,the ocean with abundant resources has become the focus of countries all around the world.It is expected to use the Unmanned Underwater Vehicle(UUV)to accelerate the development of the ocean.In the process of task execution,it is necessary for UUV to move to the target point according to a certain path,and the quality of path planning will directly affect the efficiency and cost of completing the task.The paper concentrates on the ant colony algorithm(ACA)and studies the path planning of UUV.Aiming at searching the optimal result of UUV,the improved ant colony algorithm is used to realize the global path planning based on the three-dimensional environment model.The main work of this thesis is as follows:For the terrain's influence on the UUV close to the seabed,a three-dimensional seabed terrain model is built based on sparse data points.This paper focuses on the application of ACA.Combined with the background,the specific approach and implementation steps of ACA in practical problems are proposed.Due to the influence of the main parameters in the algorithm,the effects of main parameters are analyzed and simulated to obtain the optimal combination.And then the path planning of UUV is realized based on the ACA with optimized parameters.Due to the shortcomings of ACA,such as slow convergence rate and easy to obtain local optimal solution,first improved algorithm is proposed.Then,in the two-dimensional environment of different scales,the feasibility of the improved algorithm is verified by simulation.For the simulation result,the method of quadratic optimization is proposed.The length of the path is further shortened while smoothing the turning points.Finally,based on the constructed environment model,the improved algorithm is applied to the path planning of UUV,and the path is smoothed to make it meet the actual navigation requirements.After a lot of simulations,it is found that the improved method proposed in this paper can fully reflect the advantages of ACA.The way that smooth the planned path can further optimize the path.And the optimized results can accord with the navigation requirements of UUV.It is of great significance to ensure the safe and economical execution of UUV.