CN111189468A - Wave glider global path planning method - Google Patents
Wave glider global path planning method Download PDFInfo
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- CN111189468A CN111189468A CN202010034313.4A CN202010034313A CN111189468A CN 111189468 A CN111189468 A CN 111189468A CN 202010034313 A CN202010034313 A CN 202010034313A CN 111189468 A CN111189468 A CN 111189468A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 19
- 238000004364 calculation method Methods 0.000 claims description 15
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- Radar, Positioning & Navigation (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a global path planning method for a wave glider, and particularly relates to the field of autonomous navigation observation of the wave glider, wherein the wave glider is an unmanned autonomous vehicle which converts wave fluctuation into forward power by using a special catamaran structure of the wave glider. Aiming at the wave glider to execute the sailing observation task, the improved A-star algorithm is utilized to obtain the shortest distance global optimal path.
Description
Technical Field
The invention relates to a wave glider global path planning method, in particular to the field of autonomous sailing observation of a wave glider.
Background
The wave glider is an unmanned autonomous vehicle which converts wave fluctuation into forward power by utilizing a special catamaran structure. Mainly comprises a floating body ship, an umbilical cable and a tractor. The wave energy is converted into forward power by using a multi-rigid-body structure consisting of the three parts, and the solar cell panel on the floating body ship is used for providing energy supply for modules of wave glider navigation, communication, motion control and the like. The system has the functions of long-term continuous navigation, autonomous navigation positioning, artificial intelligent identification and the like, can realize continuous navigation at 1 kilometer per year on the sea at the speed of 0.5-1 m/s without energy supply, thereby completing continuous navigation measurement of environmental parameters such as temperature, salt, flow fields, waves and underlying surface wind, temperature, air pressure and the like on the surface layer of the sea water, and adding specific sound, light and electric sensors to realize monitoring and detection of underwater, water surface and aerial targets.
The current path planning methods are mainly divided into two categories, namely a heuristic method and a deterministic method, the heuristic method is often used for accelerating the finding of an optimal solution, has large calculation amount and long calculation time, and generally does not follow a strict search process, so that the calculation result is random, and the method is generally used for occasions with low real-time requirements. The A-Star algorithm is used as a global path planning method, is the most effective direct search method for solving the shortest path in a static road network, and is also an effective algorithm for solving a plurality of search problems. The closer the distance estimate is to the actual value in the algorithm, the faster the final search speed. The invention discloses a wave glider global path planning method which improves the existing A-x algorithm, can obtain a wave glider global path, has shorter calculation time, smaller calculation amount and shorter global path, and ensures the safety distance with an obstacle.
Disclosure of Invention
The invention discloses a wave glider global path planning method, and particularly relates to the field of autonomous sailing observation of a wave glider. The invention mainly aims to provide the shortest distance path for the efficient sailing observation of the wave glider, the shortest path from a starting point to a target point of the wave glider is obtained through a global path planning method, and the task execution efficiency of the wave glider is improved.
The invention has the following implementation steps:
the method comprises the following steps: the wave glider acquires current position point information by using a GPS module, and communicates through a shore-based monitoring system by taking the current position as a starting point to obtain target point information;
step two: initializing map information, and defining the positions of a starting point and a target point on a map;
step three: in the improved A-algorithm, a node set OPEN set which is found but not subjected to the lowest cost estimation and a node set CLOSED set which is subjected to the lowest cost estimation are created, and the lowest cost estimation is carried out on the nodes in the set;
step four: and obtaining the global optimal path of the shortest distance of the wave glider by using an improved A-path planning algorithm.
The invention has the following advantages:
1. the invention has short calculation time and small calculation amount;
2. the invention can obtain the shortest distance global optimal path;
3. the invention can improve the sailing efficiency of the wave glider and the task execution efficiency.
Drawings
FIG. 1 is a diagram of a wave glider arrangement;
FIG. 2 is a flow chart of a wave glider global path planning algorithm;
FIG. 3 is a graph of maximum search distance and farthest path constraints of wave glider improvement A-algorithm;
FIG. 4 is a simulation diagram of wave glider global path planning;
Detailed Description
The improved A-algorithm is used for carrying out global path planning, a global optimal path with the shortest distance is provided for the sailing observation of the wave glider, the task execution efficiency of the wave glider is improved, the improved A-algorithm belongs to a heuristic algorithm, path searching is carried out by taking the path distance as a cost function, the improved A-algorithm is shorter in calculation time, smaller in calculation amount and better in path.
The wave glider device is shown in figure 1, the wave glider is of a double-body structure, a communication system and a sensor system are loaded on a floating body ship, and a tractor drives to move by utilizing waves through buoyancy provided by a floating body. When the wave glider needs to execute a navigation task, the wave glider obtains the current position through a GPS module on the floating body ship, and the communication is carried out through a shore-based monitoring system to obtain the position information of a target point. .
After the wave glider obtains the starting position and the target position, map information is initialized, and the starting position and the target position are defined on the map. Fig. 2 is a flowchart of a wave glider global path planning algorithm, as shown in the drawing, in the modified a-algorithm, a node set OPEN set which has been found but has not been subjected to the lowest cost estimation and a node set CLOSED set which has been subjected to the lowest cost estimation are created, if OPEN is not empty, a node with the lowest distance cost is taken as a current node, if the current node is not a target point, the current node is removed from the OPEN set, added to the CLOSED set, and starts to estimate neighboring nodes of the current node, all neighboring nodes which are not in the CLOSED set are calculated and cost estimation values thereof are obtained, and by comparing the cost estimation values of the current node and the cost estimation values of the neighboring nodes, if the cost estimation values of the neighboring nodes are lower, the node is added to the OPEN node set, and loop iteration is sequentially performed. And after the current node is expanded to the next node in each iteration, recording the current node as a father node of the next node until the next node is expanded to be a target node finally. And sequentially iterating to obtain a global path according to the recorded father node information.
Aiming at the A-algorithm, the following improvement measures are provided, the safety of a global path is considered, the number of search nodes around the obstacle is reduced, the search time is shortened, and the wave glider is ensured to have a certain distance from the obstacle. And the maximum search distance and the maximum path length constraint are provided, so that the calculation amount is reduced, and the calculation time is shortened. The steering cost is added to the minimum cost estimate in view of the wave glider steering angle to avoid frequent turns of the wave glider, increased path length and poor smoothness. A redundant point eliminating method is provided, a search path is improved, a redundant path is eliminated, and the total path length is shortened.
After the wave glider obtains the global path, the redundant points are removed through a redundant point extraction method, and therefore the global path with shorter distance can be obtained.
The wave energy glider global path planning method has the advantages of short calculation time, small calculation amount and shortest distance, can obviously improve the sailing efficiency of the wave energy glider, and can be widely applied to an autonomous sailing ocean observation platform instead of being limited to the wave energy glider.
Claims (2)
1. A wave glider global path planning method is characterized by comprising the following steps:
the method comprises the following steps: the wave glider acquires current position point information by using a GPS module, and communicates through a shore-based monitoring system by taking the current position as a starting point to obtain target point information;
step two: initializing map information, and defining the positions of a starting point and a target point on a map;
step three: in the improved A-algorithm, a node set OPEN set which is found but not subjected to the lowest cost estimation and a node set CLOSED set which is subjected to the lowest cost estimation are created, and the lowest cost estimation is carried out on the nodes in the set;
step four: and obtaining the global optimal path of the shortest distance of the wave glider by using an improved A-path planning algorithm.
2. The method for planning the global path of the wave glider according to claim 1, wherein the method for planning the global path of the wave glider is based on an improved a-algorithm, takes the security of the global path into consideration, reduces the number of search nodes around the obstacle, shortens the search time, and ensures that the wave glider has a certain distance from the obstacle. And the maximum search distance and the maximum path length constraint are provided, so that the calculation amount is reduced, and the calculation time is shortened. The steering cost is added to the minimum cost estimate in view of the wave glider steering angle to avoid frequent turns of the wave glider, increased path length and poor smoothness. A redundant point eliminating method is provided, a search path is improved, a redundant path is eliminated, and the total path length is shortened.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111707271A (en) * | 2020-06-23 | 2020-09-25 | 华瑞物流股份有限公司 | Path planning method, device and system based on dangerous goods transportation |
| CN115061482A (en) * | 2022-08-19 | 2022-09-16 | 中国海洋大学 | Wave glider global path planning method and system |
| CN115991271A (en) * | 2023-03-23 | 2023-04-21 | 中国海洋大学 | Wave glider navigation method and system based on propeller propulsion |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107037812A (en) * | 2017-03-31 | 2017-08-11 | 南京理工大学 | A kind of vehicle path planning method based on storage unmanned vehicle |
| CN109828458A (en) * | 2019-02-26 | 2019-05-31 | 中国海洋大学 | A kind of wave glider path tracking control method |
| CN110398250A (en) * | 2019-08-13 | 2019-11-01 | 哈尔滨工程大学 | A kind of unmanned boat global path planning method |
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2020
- 2020-01-13 CN CN202010034313.4A patent/CN111189468A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107037812A (en) * | 2017-03-31 | 2017-08-11 | 南京理工大学 | A kind of vehicle path planning method based on storage unmanned vehicle |
| CN109828458A (en) * | 2019-02-26 | 2019-05-31 | 中国海洋大学 | A kind of wave glider path tracking control method |
| CN110398250A (en) * | 2019-08-13 | 2019-11-01 | 哈尔滨工程大学 | A kind of unmanned boat global path planning method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111707271A (en) * | 2020-06-23 | 2020-09-25 | 华瑞物流股份有限公司 | Path planning method, device and system based on dangerous goods transportation |
| CN115061482A (en) * | 2022-08-19 | 2022-09-16 | 中国海洋大学 | Wave glider global path planning method and system |
| CN115061482B (en) * | 2022-08-19 | 2022-11-25 | 中国海洋大学 | Wave glider global path planning method and system |
| CN115991271A (en) * | 2023-03-23 | 2023-04-21 | 中国海洋大学 | Wave glider navigation method and system based on propeller propulsion |
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Application publication date: 20200522 |