Research On Multi-AUV Cooperative Path Planning Method

With the gradual exploration and development of the ocean,autonomous undersea vehicle（AUV）is becoming increasingly popular for underwater operations.The complexity of most underwater tasks necessitates the collaboration of multiple AUVs.However,AUVs will inevitably be affected by the surrounding complex and changeable marine environment when working.When multiple AUVs collaborate,they must consider the optimal route coordination as well as their own safety.Therefore,this thesis mainly studies the AUV global path,local path and cooperative path planning of multiple AUVs in the marine environment.Firstly,considering the influence of flow field constraints,the underwater environment is modeled for the unique ocean current problem in the marine environment.After that,based on the traditional artificial bee colony algorithm,an improved artificial bee colony algorithm fused with B-spline curves is proposed to handle the global path planning problem of AUVs under the constraints of the ocean current flow field.The simulation is carried out in the environment built by real ocean remote sensing data.The experimental results show that the improved algorithm can effectively plan a safe path for AUV in underwater environment,and take into account the sailing distance and energy consumption of AUV.Secondly,aiming for the unknown obstacle problem that does not exist in the static diagram,on the basis of the global path,the fluid disturbance algorithm combined with rolling window is utilized to carry out local path planning in the actual navigation process of AUV,which solves the safety problem of AUV navigation.The feasibility of the algorithm is verified by simulation.Finally,aiming to solve the cooperative path planning problem of underwater multiAUV cluster operation,the gray wolf optimal cooperative path planning method,which combines simulated annealing and adaptive neighborhood search,is used to obtain the optimal route assignment result of AUV cooperative operation under multiple constraints.Furthermore,in order to adjust the AUV planning path in the team cluster during navigation,based on the analysis of the characteristics of underwater acoustic communication,a discrete state window cooperative path planning strategy is proposed,which considers the distance constraints of underwater acoustic communication because of the problem that there are numerous unknown obstacles in the marine environment.The simulation results show that this method can effectively ensure the optimality of cluster collaborative path planning results in the actual operation of multiple AUVs.