Research On Multi-AUV Real-time Cooperative Route Planning Algorithm Considering The Impact Of Marine Environment

Multi-AUV real-time collaborative route planning is a problem of real-time route optimization of multiple AUVs in a complex ocean environment.The difficulty of real-time coordination of multi-AUV under the influence of the marine environment is not only to consider the impact of multiple marine elements on the AUV route,but also to maintain the safety and coordination optimality of multiple AUVs in real time in a dynamic ocean.Therefore,in this project,a marine environment model is established based on the marine environmental information of the Taiwan Strait waters,and the AUV global route,AUV real-time route,multi-AUV coordinated route allocation,and multi-AUV coordinated route planning are studied under the influence of the marine environment.So as to realize the research of multi-AUV real-time cooperative route planning algorithm considering the influence of marine environment.First,research the AUV global route planning problem under the influence of the marine environment.Considering the influence of various marine environmental factors,an improved level set optimization algorithm combined with the idea of artificial potential field is proposed for global route planning.The simulation results verify the superiority of the improved algorithm.Secondly,the real-time route planning of AUV under the influence of marine environment is studied.Based on the global route,a rolling window algorithm with adaptive exploration scope is proposed,which solves the problem of real-time route planning,so that it can adapt to the dynamic ocean environment that changes with time,and solves the local route optimization problem.The results verify the feasibility and effectiveness of the algorithm.Thirdly,the problem of multi-AUV coordinated route allocation under the influence of marine environment is studied.In order to improve the success rate of optimal allocation of cooperative routes,an improved quantum particle swarm algorithm fused with the idea of differential evolution is proposed to solve the problem of multi-constrained cooperative route allocation.The simulation results verify the superiority of the improved method.Finally,the focus is on the multi-AUV coordinated route planning under the influence of the marine environment.In the marine environment,in order to enable multiple AUVs to maintain the cooperative optimality of the route in real time during navigation,the idea of state space division is adopted,and a task coordination mechanism is added to the local state space.The simulation results show that this method effectively solves the problem of the deterioration of multi-AUV synergy in the process of real-time cooperative navigation,and can plan a better multi-AUV cooperative route trajectory.