CN115061482A - Wave glider global path planning method and system - Google Patents
Wave glider global path planning method and system Download PDFInfo
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- CN115061482A CN115061482A CN202210995147.3A CN202210995147A CN115061482A CN 115061482 A CN115061482 A CN 115061482A CN 202210995147 A CN202210995147 A CN 202210995147A CN 115061482 A CN115061482 A CN 115061482A
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The invention relates to a wave glider global path planning method and a system, which relate to the field of path planning, and the method comprises the following steps: establishing a flow field model of ocean flow velocity based on the initial position and the target position; establishing a resultant velocity model according to the flow field model and the velocity of the wave glider; establishing an energy cost evaluation function according to the combined speed model and the quality of the wave glider; obtaining an extended node between the initial position and the target position by adopting an RRT algorithm; performing energy cost evaluation on the expansion node by adopting the energy cost evaluation function to obtain a first energy optimal node set; performing energy cost evaluation on the nodes in the first energy optimal node set by adopting the energy cost evaluation function through a graph search algorithm to obtain a second energy optimal node set; and fitting the nodes in the second energy optimal node set by adopting a B spline curve to obtain a final planned path. The invention reduces the energy consumption of the wave glider.
Description
Technical Field
The invention relates to the technical field of path planning, in particular to a wave glider global path planning method and system.
Background
The wave glider is an unmanned autonomous vehicle which converts wave fluctuation into forward power by using a special catamaran structure and 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 wave glider has weak mobility, is greatly influenced by ocean current interference, and has the problem of large task execution capacity consumption at present.
Disclosure of Invention
The invention aims to provide a wave glider global path planning method and a wave glider global path planning system, which reduce the energy consumption of the wave glider.
In order to achieve the purpose, the invention provides the following scheme:
a wave glider global path planning method comprises the following steps:
establishing a flow field model of ocean flow velocity based on the initial position and the target position;
establishing a resultant velocity model according to the flow field model and the velocity of the wave glider;
establishing an energy cost evaluation function according to the combined speed model and the quality of the wave glider;
obtaining an extended node between the initial position and the target position by adopting an RRT algorithm;
performing energy cost evaluation on the expansion node by adopting the energy cost evaluation function to obtain a first energy optimal node set;
performing energy cost evaluation on the nodes in the first energy optimal node set by adopting the energy cost evaluation function through a graph search algorithm to obtain a second energy optimal node set;
and fitting the nodes in the second energy optimal node set by adopting a B spline curve to obtain a final planned path.
Optionally, the flow field model is represented as:
wherein the content of the first and second substances,
to representtThe velocity component of the current velocity in the forward direction of the wave glider at the moment,
to representtA velocity component of the current velocity in a direction perpendicular to the direction of travel of the wave glider at that moment.
Optionally, the resultant velocity model is represented as:
wherein the content of the first and second substances,
representing the velocity of the wave glider.
Optionally, the energy cost evaluation function is expressed as:
wherein the content of the first and second substances,mrepresenting the mass of the wave glider.
The invention also discloses a wave glider global path planning system which at least comprises a processor, wherein the processor is used for executing the wave glider global path planning method.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a wave glider global path planning method and a system, wherein an energy cost evaluation function is established according to a combined speed model based on ocean current speed and the quality of a wave glider; and obtaining an extended node between the initial position and the target position by adopting an RRT algorithm, obtaining an energy optimal node set by adopting an energy cost evaluation function and a graph search algorithm, and obtaining a final planned path by adopting a B spline curve for fitting.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic flow chart of a wave glider global path planning method according to the present invention;
FIG. 2 is a schematic view of a flow field model setup of the present invention;
FIG. 3 is a schematic diagram of the velocity model building principle of the present invention;
FIG. 4 is a schematic diagram of node expansion of the RRT algorithm of the present invention;
FIG. 5 is a schematic of the graph search algorithm of the present invention;
FIG. 6 is a schematic structural diagram of a wave glider global path planning system according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a wave glider global path planning method and a wave glider global path planning system, which reduce the energy consumption of the wave glider.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic flow chart of a global path planning method for a wave glider according to the present invention, and as shown in fig. 1, the global path planning method for the wave glider includes the following steps:
step 101: and establishing a flow field model of the ocean flow velocity based on the starting position and the target position.
The flow field model is represented as:
wherein the content of the first and second substances,
to representtThe velocity component of the current velocity in the forward direction of the wave glider at the moment,
to representtThe velocity component of the current velocity in the direction perpendicular to the advancing direction of the wave glider at the moment, the flow field model is shown in fig. 2, the abscissa in fig. 2 is the x axis, the ordinate is the y axis, the flow field velocity can be constructed according to the current background field data, and the current background field data can be downloaded on the internet.
Step 102: and establishing a resultant velocity model according to the flow field model and the velocity of the wave glider.
The resultant velocity model is represented as:
wherein the content of the first and second substances,
the velocity of the wave glider, namely the sailing velocity of the wave glider without the influence of ocean currents is represented, and the principle of establishing a resultant velocity model is shown in figure 3.
The wave glider is of a double-body structure, a communication system and a sensor system are loaded on the floating body ship, and the tractor drives to advance by utilizing waves through buoyancy provided by the 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 (target position).
Step 103: and establishing an energy cost evaluation function according to the combined velocity model and the quality of the wave glider.
The energy cost evaluation function is expressed as:
wherein the content of the first and second substances,mrepresenting the mass of the wave glider.
Step 104: and obtaining an extended node between the starting position and the target position by adopting an RRT algorithm.
The RRT algorithm belongs to a probabilistic algorithm, a random expanded tree is generated by taking an initial position as a root node and increasing leaf nodes through random sampling, and when the leaf nodes in the random tree contain target positions or enter a target area, a path consisting of tree nodes from the initial point to a target point can be found in the random tree.
Step 105: and performing energy cost evaluation on the expansion nodes by adopting the energy cost evaluation function to obtain a first energy optimal node set.
In step 105, the time for each optimal node in the first energy optimal node set to reach the target point is the shortest.
And calculating the node with the minimum energy consumption, namely the node with the highest utilization rate according to the energy cost evaluation function. The first energy-optimal node set is an optimal node set in all nodes in the first-level search, and is not an overall optimal set.
Step 106: and performing energy cost evaluation on the nodes in the first energy optimal node set by adopting the energy cost evaluation function through a graph search algorithm to obtain a second energy optimal node set.
Step 107: and fitting the nodes in the second energy optimal node set by adopting a B spline curve to obtain a final planned path.
The method comprises the steps of searching in a random space by using an RRT algorithm, converting continuous space search into discrete space search, obtaining an expansion node by using the randomness of the search, evaluating the energy cost of the node by using an energy cost evaluation function within a certain range of the expansion node to obtain a first energy optimal node set, wherein the RRT algorithm searching process is shown as figure 4, and the RRT algorithm searching process is shown as figure 4rWhich represents the radius of the expansion and,q int indicating the node corresponding to the starting position,q near indicating distanceq int The closest point of the image to the image is,q rand which represents the random points that are generated by the random point,E pmax indicating the energy optimum point. Performing energy evaluation on the node set from the starting point by using the energy cost evaluation function again through the graph search algorithm framework to obtain a second energy optimal node set, wherein the search process is shown as fig. 5, and the graph 5 isδWhich represents the radius of the search,q abon indicating the node that was dropped and,A int it is shown that the search area is initialized,A endo1 indicating the proximity of the search area to the user,P endo1 indicating a proximity zoneA endo1 In (1)At the most optimal point, the method has the advantages that,q goal representing the node corresponding to the target location.
The wave glider is provided with an energy optimal path under ocean current interference, the wave glider is obtained through a global path planning method to obtain an energy optimal path from a starting point to a target point under the ocean current interference, and the task execution energy consumption of the wave glider is reduced; the energy consumption of the wave glider for task execution can be reduced, and the long-range sailing observation reliability is improved.
In order to implement the above global path planning method for the wave glider to achieve corresponding functions and technical effects, a global path planning system for the wave glider is provided below. A wave glider global path planning system at least comprises a processor, and the processor is used for executing the wave glider global path planning method.
As shown in fig. 6, the processor includes:
and a flow field model establishing module 201, configured to establish a flow field model of ocean flow velocity based on the initial position and the target position.
And a resultant velocity model establishing module 202, configured to establish a resultant velocity model according to the flow field model and the velocity of the wave glider.
And the energy cost evaluation function establishing module 203 is used for establishing an energy cost evaluation function according to the combined velocity model and the quality of the wave glider.
A node expansion module 204, configured to obtain an expansion node between the starting location and the target location by using an RRT algorithm.
The first energy-optimal node set determining module 205 is configured to perform energy cost evaluation on the expansion node by using the energy cost evaluation function to obtain a first energy-optimal node set.
A second energy-optimal node set determining module 206, configured to perform energy cost evaluation on nodes in the first energy-optimal node set by using the energy cost evaluation function through a graph search algorithm, so as to obtain a second energy-optimal node set.
And the B-spline curve fitting module 207 is configured to fit the nodes in the second energy optimal node set by using a B-spline curve to obtain a final planned path.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (5)
1. A wave glider global path planning method is characterized by comprising the following steps:
establishing a flow field model of ocean flow velocity based on the initial position and the target position;
establishing a resultant velocity model according to the flow field model and the velocity of the wave glider;
establishing an energy cost evaluation function according to the combined speed model and the quality of the wave glider;
obtaining an extended node between the initial position and the target position by adopting an RRT algorithm;
performing energy cost evaluation on the expansion node by adopting the energy cost evaluation function to obtain a first energy optimal node set;
performing energy cost evaluation on the nodes in the first energy optimal node set by adopting the energy cost evaluation function through a graph search algorithm to obtain a second energy optimal node set;
and fitting the nodes in the second energy optimal node set by adopting a B spline curve to obtain a final planned path.
2. The wave glider global path planning method of claim 1, wherein the flow field model is represented as:
wherein the content of the first and second substances,
to representtThe velocity component of the current velocity in the forward direction of the wave glider at the moment,
to representtThe velocity component of the current velocity in a direction perpendicular to the direction of travel of the wave glider at the moment.
3. The wave glider global path planning method according to claim 2, characterized in that the resultant velocity model is represented as:
wherein the content of the first and second substances,
representing the velocity of the wave glider.
4. The wave glider global path planning method of claim 3, wherein the energy cost evaluation function is expressed as:
wherein the content of the first and second substances,mrepresenting the mass of the wave glider.
5. A wave glider global path planning system, characterized in that it comprises at least a processor for performing the wave glider global path planning method according to any of claims 1-4.
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| CN116027671A (en) * | 2023-03-28 | 2023-04-28 | 中国海洋大学 | Anchoring method and system of wave glider |
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