Research On Bionic Propulsion Structure And Path Planning Of Small Unmanned Ships

Bionics opens a new era in which human society transforms from obtaining from nature to learning from nature.Bionics provides new theories,new ideas and new ways for scientific discovery,technological invention and engineering creation.With the rapid development of AI technology,bionics application scale is constantly expanding.As the most intelligent underwater elf--unmanned ships,it has great application value in both the military fields and the civil fields,so it has been widely concerned by researchers.In the research of unmanned ships,on the one hand,the increasingly various water activities and task demands of human beings have led to the emergence of a variety of special ships that can adapt to different situations.The structure and function of propellers will be greatly limited in very narrow space,or in shallow seas,or in dangerous environments,on the other hand,track planning marks the intelligence level of unmanned ships,which is one of the key technologies of unmanned ship planning and plays a crucial role in the efficient completion of operations of unmanned ships.Aiming at the two research directions of the above-mentioned unmanned ships technology,this paper applies the mechanism of bionics to the structure technology and control technology of unmanned ships by imitating the species with excellent functions.The main research contents are as follows:At first,for the marine operation tasks' various development problems,this paper puts forward a new type of a unmanned ship propeller structure to obtain promote function in a special environment which the traditional propeller can not approach.Based on the basilisk lizards as bionic prototype,a bionic lizard propulsion structure with the crank rocker mechanism to promote the driving mechanism is created.Trajectory optimization design mathematical model is established and the motion simulation analysis is also carried out.Secondly,in view of the effects of shape of bionic propulsion structure pedal's influence on the propulsion,on the basis of computational fluid dynamics theory,design the pedals of adifferent shapes,combined with computational fluid dynamics analysis software,the computational fluid dynamics model of the bionic pedal structure analysis is established,through dynamic grid set,water dynamics analysis was carried out on the pedal and decide the better propeller pedal structure.Furthermore,in order to solve the problem of route planning for unmanned lifeboats,animproved considering time optimization ant colony algorithm is proposed in this paper.Through the establishment of unmanned lifeboats sailing time model,get the navigation path loss calculation formula,based on the bionic intelligent algorithm--ant colony algorithm,by changing the pheromone update methods of ant colony algorithm,the improved time optimization ant colony algorithm is proposed and applied to unmanned lifeboats track problem,get a unmanned lifeboats navigation path based on time optimization.Finally,in order to solve the problem of route planning of multiple unmanned sampling vessels,that is,multiple unmanned sampling vessels conduct water quality sampling at multiple water quality survey points,and study the route of each unmanned sampling vessel.In this paper,the question is abstracted as multi-traveller problem,based on the bionic intelligent algorithm--genetic algorithm,the basic genetic algorithm is improved and then applied to the multi-traveller problem of route planning of unmanned sampling vessels to plan reasonable and effective navigation paths for multiple unmanned sampling vessels.