CN106779132A - Undersea detection device based on chaotic characteristic - Google Patents
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Abstract
The invention discloses a kind of undersea detection device based on chaotic characteristic, the detection device includes chaos sequence generator, path planning system, detection device alignment system, differentiating obstacle, data handling system, drive system, target Compare System, signal transmitting system.Undersea detection device based on chaotic characteristic of the invention, can quickly realize making rational planning for for detection device path in the case of not by extraneous navigation system and control system, that is, realize autonomous traveling and the traversal search of detection device.And, when Syndicating search is carried out using multiple type detection devices, without carrying out the collaborative planning between path setting and detection device again.Only each detection device from water under different positions need to be allowed, and each Xia Shui place need not each other from too away from.
Description
Technical field
The invention belongs to control field, it is related to a kind of paths planning method of detection device, especially a kind of undersea detection
The paths planning method of device, its main purpose is to quickly realize detection device path by the intrinsic characteristic of chaos
Make rational planning for and be automatically performed path cotasking when detection device cooperates.
Background technology
Along with the utilization to marine resources, and to the search needs of the sub-sea floor targets such as shipwreck, undersea detection device
Effect is unquestionable.And independence is the important indicator of undersea detection device.The capacity of will of undersea detection device refers to it
With the ability interacted with external environment condition, and then, determine course, automatic obstacle avoiding, autonomous simple operation with autonomous
Etc. function.Existing detection device will typically be aided in by the external world（GPS etc.）To carry out path planning.It is corresponding to be accomplished by detection
Device has signal receiving device and communication support device, and this undoubtedly increased cost, and with the detection device quantity of production
Increase, the increase that cost can add up.Additionally, in order to find target as early as possible, searched usually using multiple detection device simultaneously
Rope.And general detection device is used, now it is accomplished by carrying out the detection device of all participations path planning and goes forward side by side walking along the street footpath
Collaboration, to prevent the repetition of collision and the field of search.This undoubtedly increased workload and cost again.Therefore, it is necessary to consider
Under conditions of cost-effective, path planning and path association are more simply efficiently carried out to detection device using new method
Together.
The content of the invention
The technical problem to be solved in the present invention is：A kind of undersea detection device based on chaotic characteristic is proposed, can be not
In the case of by extraneous navigation system and control system, making rational planning for for detection device path is quickly realized, that is, realize detection
The autonomous traveling of device and traversal search.And, when Syndicating search is carried out using multiple type detection devices, without entering again
Collaborative planning between row path setting and detection device.Only each detection device from water under different positions need to be allowed, and respectively
Individual Xia Shui places without each other from too away from.
To achieve these goals, the present invention uses following technical scheme, mainly includes nine steps.
Step one：It is that presumptive area sets up coordinate system under water according to Grid Method.
Step 2：Original chaotic sequence is produced by chaos sequence generator, and completes corresponding treatment, finally to be mixed
Ignorant sequence.
Step 3：Set the coordinate of the work starting point of each detector.Changes in coordinates is carried out to sequence to be allowed to and predetermined work
The coordinate range for making region is consistent substantially, and essentially coincides the starting point of sequence and the work starting point of setting.
Step 4：Chaos sequence is stored in path planning system, and detection device is being fixed water spot in advance（Work
Point）Water under nearby, now the start-up operation of detection device alignment system, generates the coordinate position of detection device.
Step 5：Differentiating obstacle is started working, and is found barrier by Detection Techniques such as sonars and is determined it is solid
Determine barrier or moving obstacle.That fixes in this way is then sent to data handling system by its coordinate, if motion is then
A coordinate for barrier is sent every a time point.
Step 6：Target Compare System is started working, and surrounding space is detected by Detection Techniques such as sonars, once
It was found that target is that the signal for finding target is sent to data handling system, do not send otherwise.
Step 7：Signal transmitting system is in state to be activated, once it is connected to the discovery target of data handling system transmission
Signal i.e. outwardly send target coordinate information.
Step 8：Path planning system is started working, and by corresponding two adjacent coordinates in chaos sequence, provides one
Then the data that data handling system is given are analyzed by bar straight line path, and provide final path.Its analytical procedure is as follows：
If the 1, signal processing system provides judgement and its coordinate of fixed obstacle, the coordinate is calculated with above-mentioned straight line path
Distance whether be more than safe distance.If it is the corresponding parameter in above-mentioned path is issued into drive system, otherwise determines obstacle
Thing is located at which side of straight line path, and is detoured from opposite side.
If the 2, signal processing system provides the judgement of moving obstacle and the time series that sends over and coordinate sequence
Information, then the movement tendency according to barrier determine the progress path of detector or evade path.
Step 9：Drive system is started working, and according to the data that path planning system is sent, drives detection device motion.
In the step 2, original chaotic sequence is referred to by " the chaos sequence using the broad sense for the purpose of chaotic characteristic
Row ".It should include various situations, for example：
1st, according to the kinetics equation of certain chaos system or certain chaos circuit, a chaos sequence is obtained by modes such as samplings
Row are used as original chaotic sequence.
2nd, to the sequence obtained by the combination of multiple chaos sequences as original chaotic sequence.
In the step 2, final chaos sequence is referred to according to the arithmetic speed of data handling system and detection device
The restrictive conditions such as radius of investigation are to original chaotic sequence（Each element of sequence is a three-dimensional coordinate）Carry out nonuniform sampling
Deng treatment, the sequence of gained is again after being multiplied by the treatment of the transform methods such as a suitable proportionality coefficient so that the chaos of gained
The corresponding track of sequence is adapted to detection device and uses（As shown in Figure 2）.If the chaos sequence of gained is still uncomfortable after repeatedly attempting
Close detection device to use, then select original chaotic sequence again and reattempted to by above-mentioned steps.In this way, until gained
Untill chaos sequence is adapted to detection device use.
Differentiating obstacle in the step 5 is referred to prevent for the purpose of detection device from cannot continue on
Support system.So, the obstacle information method such as be pre-filled with directly being used in detection device related system is still belonged to
In the category of this differentiating obstacle.
Path planning system in the step 8 refers to what is built based on the above-mentioned characteristic using chaos sequence
Planning system.
Compared to prior art, the invention has the advantages that：
1st, hardware cost is reduced by using Grid Method.
2nd, cause that single detection device realizes the traversal in predetermined waters by the characteristic by chaos, to ensure nothing
Dead angle detects and efficiently detection.Why efficiently, because detection device each sample point in predetermined waters will only occur one
It is secondary, and the completeness of sample point can be ensured thoroughly over time.Even if occur equipment unstable grade other
Interference effect, the completeness of sample point also still can be ensured thoroughly over time.
3rd, automatic planning when multiple detection devices cooperate is realized by the characteristic by chaos.That is, with when
Between passage each detection device can from increasingly away from.In addition, the introducing of obstacle avoidance system, effectively solves detection device
Collision problem.So, when finally realizing multiple detection devices and cooperating, need to only allow each detection device from from slightly away from
From lower water spot under water.So, the hardware cost needed for cooperating is not only reduced, operating personnel's work is reduced
Difficulty, and ensure that the stability of collaborative work.
4th, the present invention proposes a kind of undersea detection device based on chaotic characteristic, can not by extraneous navigation system and
In the case of control system, autonomous traveling and traversal search is realized.And, combine searching when using multiple type detection devices
Suo Shi, without carrying out the collaborative planning between path setting and detection device again.Only each detection device from different positions need to be allowed
Put lower water, and Xia Shui places without each other from too away from.
Brief description of the drawings
Fig. 1 is the chaos attractor three-dimensional phase diagram of new Liu systems, Fig. 2 be chaos sequence is carried out changes in coordinates with
The schematic diagram that the coordinate range of presumptive area matches under water.
Fig. 3 is the schematic diagram that the chaotic orbit of evolution is separated from each other since different initial points of new Liu systems.
Fig. 4, Fig. 5 are respectively new Liu systems from initial point（0,0.1,0）、（2.0,2.0,0.2）Start the mixed of evolution
Ignorant attractor three-dimensional phase diagram.
Fig. 6 is the system architecture diagram of the undersea detection device based on chaotic characteristic.
1. from initial point（2.4,2.2,0.8）Start the chaotic orbit for developing, 2. from initial point（2.0,2.0,0.2）Open
Begin the chaotic orbit for developing.
Specific embodiment
In order to verify, the correctness of extracting method, is further described in conjunction with drawings and Examples, special based on chaos
The system architecture diagram of the undersea detection device of property is as shown in Figure 6.
Present invention design is a kind of undersea detection apparatus control system based on chaotic characteristic, and the system uses modularization
Technology is designed, and its modules works independently from each other.System includes chaos sequence generator, detection device alignment system, barrier
Hinder thing identifying system, data handling system, drive system, target Compare System, signal transmitting system.Wherein：Filled by detecting
Put alignment system and voluntarily determine the current position coordinates of detection device；The identifying system that breaks the barriers produces forbidden zone information；Pass through
Target Compare System recognizes target；Chaos sequence is produced by chaos sequence generator, and as preset path；At data
Reason system completes the synthesis to above- mentioned information and treatment, and provides course；Sent by signal transmitting system and successfully believed
Number；Detection device is driven to advance by drive system.
The paths planning method of this undersea detection device comprises the steps.
It is that presumptive area sets up coordinate system under water according to Grid Method.
Original chaotic sequence is produced by chaos sequence generator, and completes corresponding treatment, to obtain final chaos sequence.
Wherein, original chaotic sequence is referred to by " chaos sequence " using the broad sense for the purpose of chaotic characteristic, and it should include various feelings
Condition, for example：
1st, according to the kinetics equation of certain chaos system or certain chaos circuit, a chaos sequence is obtained by modes such as samplings
Row are used as original chaotic sequence.
2nd, to the sequence obtained by the combination of multiple chaos sequences as original chaotic sequence.
Here, produced by way of sampling according to the kinetics equation of certain chaos system only with chaos sequence generator
Introduced as a example by raw original chaotic sequence, it comprises the steps：
1st, according to the kinetics equation of certain chaos system, here only with the new three dimensional non-linear next by Liu phylogenies
As a example by self-governing chaos dynamic system, its kinetics equation is as follows：
dx/dt=a(z-x)+h(z^2)
dy/dt=by-dxz
dz/dt=ry-cz (1)
In this new Liu system, a=0.5, b=2.5, c=4, d=1, h=1, r=1.Under such Parameter Conditions, this is new
Three-dimensional autonomous dynamical systems be a chaos system, its dynamic behavior is chaotic oscillation.It is this new Liu system
An initial value is selected, is set to here（2.4,2.2,0.8）.Then its finite time restriction under chaos attractor three-dimensional phase diagram
As shown in Figure 1.
The restrictive condition such as arithmetic speed the 2nd, according to data handling system and the radius of investigation of detector is to original chaotic sequence
Row（Each element of sequence is a three-dimensional coordinate）The treatment such as nonuniform sampling is carried out, the sequence of gained is again by being multiplied by one
After the transform method treatment such as suitable proportionality coefficient so that the corresponding track of chaos sequence of gained is adapted to detection device and uses
（As shown in Figure 2）.If the chaos sequence obtained by after repeatedly attempting still is not suitable for detection device and uses, select initial mixed again
Ignorant sequence is simultaneously reattempted to by above-mentioned steps.In this way, untill the chaos sequence of gained is adapted to detection device use.By
This, obtains required final chaos sequence.
The coordinate of the lower water spot of each detection device is set, is selected here（2.4,2.2,0.8）、（2.0,2.0,0.2）.Its
Corresponding chaos attractor three-dimensional phase diagram difference is as shown in Figure 4, Figure 5.
Changes in coordinates is carried out to sequence to be allowed to be consistent substantially with the coordinate range of presumptive area under water, and makes sequence
Starting point and the lower water spot of setting are essentially coincided.
Chaos sequence is stored in path planning system, and detection device is fixed lower water near water spot pre-, now
Detection device alignment system is started working, and generates the coordinate position of detection device.
Differentiating obstacle is started working, and described differentiating obstacle refers to preventing the detection device cannot be after
The support system continued for the purpose of.So, obstacle information is pre-filled with directly to be subject to profit in detection device related system
With etc. method still belong to the category of this differentiating obstacle.Here, barrier can be found simultaneously by Detection Techniques such as sonars
It is determined that being fixed obstacle or moving obstacle.That fixes in this way is then sent to data handling system by its coordinate, if
That moves then sends a coordinate for barrier every a time point.
Target Compare System is started working, and surrounding space is detected by Detection Techniques such as sonars, once find mesh
Mark sends the signal for finding target to data handling system, does not send otherwise.
Signal transmitting system is in state to be activated, once it is connected to the signal of the discovery target of data handling system transmission i.e.
Outwardly send the coordinate information of target.
Path planning system is started working, and described path planning system is referred to using the above-mentioned characteristic of chaos sequence
Based on build planning system.By corresponding two adjacent coordinates in chaos sequence, linear path is provided, then
The data that data handling system is given are analyzed, analytical procedure is as follows：
If the 1, signal processing system provides judgement and its coordinate of fixed obstacle, the coordinate is calculated with above-mentioned straight line path
Distance whether be more than safe distance.If it is the corresponding parameter in above-mentioned path is issued into drive system, otherwise determines obstacle
Thing is located at which side of straight line path, and is detoured from opposite side.
If the 2, signal processing system provides the judgement of moving obstacle and the time series that sends over and coordinate sequence
Information, then the movement tendency according to barrier determine the progress path of detection device or evade path.
Drive system is started working, and according to the data that path planning system is sent, drives detection device motion.
Operation principle of the invention
Provide the introduction of related notion first before operation principle of the invention is introduced：
1st, phase space：For the ease of describing the state of dynamic system, an imaginary space-phase space is introduced.The phase of system
Space represents the possible state of whole of system.Each possible state of system it is only corresponding to phase space in a point.
Thus, a dynamic system can be by a little representing in phase space in the state of given time, and this point is referred to as representing a little.
The motion of dynamic system can represent that this curve is referred to as phase rail by representing a curve that point described with the time in phase space
Road.Initial condition is starting point of the system in phase space.To a dynamic system, a starting point only corresponds to a phase rail
Mark.
2nd, the principal character of chaos：In general, a deterministic dynamical system has three kinds of standing states, i.e. equilibrium-like
State, rectilinear oscillation and quasiperiodical oscillation.And chaotic oscillation is then completely different with these three states, it is a kind of unstable limited
Steady motion, is confined to finite region but the power of track sensitive dependence never repeatedly and with ergodic and to initial value
Learn oscillation behavior.Additionally, chaos system has randomlikeness, i.e. the inherent pseudo-randomness of deterministic system.
3rd, the ergodic of chaos refers to：In the confined space corresponding to chaos system（As shown in Figure 1）, chaos system in
The track that any starting point starts to develop fills up whole space at last, i.e., each point in the whole confined space, and the track is all
To pass through.And, each point track passes through and merely through once.
4th, chaos system shows as being leaned on from any two for any Time Chaotic Dynamical Systems to the sensitive dependence of initial value
The phase orbit that near initial value sets out will be separated in the regular hour is interval with exponential form（As shown in Figure 3）.At the beginning of system
The extremely small change of initial value, can make the vibration output of system produce essential difference.This is non-linear chaotic dynamics system
The inherent characteristic of system.
5th, the inherent pseudo-randomness of deterministic system：System is to determine sexual system first, therefore, the solution of system is also to determine
's.Secondly because chaos system is to initial value extreme sensitivity, i.e., from a distance of two very near starting points, the track meeting of motion
Apart more and more remote.And all survey tools have minimum scale value, i.e., the systematic error that measurement operation is produced can not be eliminated,
So inevitably its state value is carried out approximately when chaos system is portrayed.So, over time, gained knot
The error of fruit and legitimate reading can be increasing, until the long-term action that acquired results become error result, i.e. chaos cannot be pre-
Survey, namely the long-term action of chaos has randomness.
Operation principle：Predetermined waters delimited, selects suitable chaotic function to produce chaos sequence, and enter to chaos sequence
The corresponding conversion of row makes its corresponding track substantially to cover predetermined waters.So, using chaos be confined to finite region but
Track is never repeated and the characteristic with ergodic, and final chaos sequence is set in conjunction with the radius of investigation of detection device
Row, have ensured each predetermined work point on detection device traveling track（That is, sample）Meet the reasonability of sampling, realize spy
The high efficiency of survey.Meanwhile, using chaos to the exquisite sensitivity of initial value, when having ensured that multiple detection devices are used in combination, can be with
Collaborative planning part is saved, associated working is quickly realized.This has richly endowed by nature for the development and application of undersea detection device
Superiority.
It is emphasized that embodiment of the present invention is illustrative and not restrictive, therefore, the present invention is simultaneously
It is not limited to the embodiment described in specific embodiment, the other embodiment that every technology according to the present invention scheme draws,
Also belong to protection scope of the present invention.
Claims (5)
1. the undersea detection device of chaotic characteristic is based on, it is characterised in that including the chaotic characteristic for being utilized and following step：
Characteristic one:Chaos is confined to finite region but track is never repeated and with ergodic；
Characteristic two:Chaos has exquisite sensitivity to initial value；
Step one：It is that presumptive area sets up coordinate system under water according to Grid Method；
Step 2：Original chaotic sequence is produced by chaos sequence generator, and completes corresponding conversion process, finally to be mixed
Ignorant sequence；
Step 3：The coordinate of the work starting point of each detection device is set, carrying out changes in coordinates to sequence is allowed to and predetermined work
The coordinate range in region is consistent substantially, and essentially coincides the starting point of sequence and the work starting point of setting；
Step 4：Chaos sequence is stored in path planning system, and makes detection device lower water near predetermined work starting point,
Now detection device alignment system is started working, and generates the coordinate position of detection device；
Step 5：Differentiating obstacle is started working, and is found barrier by Detection Techniques such as sonars and is determined it is to fix barrier
Hinder thing or moving obstacle, it is fixed in this way that its coordinate is then sent to data handling system, if motion then every
One time point sends a coordinate for barrier；
Step 6：Target Compare System is started working, and surrounding space is detected by Detection Techniques such as sonars, once find
Target is that the signal for finding target is sent to data handling system, is not sent otherwise；
Step 7：Signal transmitting system is in state to be activated, once it is connected to the letter of the discovery target of data handling system transmission
Number i.e. outwardly send target coordinate information；
Step 8：Path planning system is started working, and by corresponding two adjacent coordinates in chaos sequence, provides one directly
Then the data that data handling system is given are analyzed by thread path, and provide final path；
Step 9：Drive system is started working, and according to the data that path planning system is sent, drives detector motion.
2. the undersea detection device based on chaotic characteristic according to claim 1, it is characterised in that：Described original chaotic
Sequence
Row refer to " chaos sequence " of the broad sense for the purpose of the above-mentioned characteristic using chaos.
3. the undersea detection device based on chaotic characteristic according to claim 1, it is characterised in that：Described final chaos
Sequence refers to carrying out a series for the treatment of by original chaotic sequence, the corresponding track of sequence of gained is adapted to detection
Device is used, and can again select original chaotic sequence, untill the chaos sequence of gained is adapted to detection device use.
4. the undersea detection device based on chaotic characteristic according to claim 1, it is characterised in that：Described barrier is known
Other system refer to by prevent detection device cannot continue on for the purpose of support system.
5. the undersea detection device based on chaotic characteristic according to claim 1, it is characterised in that：Described path planning
System refers to the planning system built based on the above-mentioned characteristic using chaos sequence.
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Application publication date: 20170531 |