AUV Rendezvous Online Path Planning in a Highly Cluttered Undersea Environment Using Evolutionary Algorithms
AUV Rendezvous Online Path Planning in a Highly Cluttered Undersea Environment Using Evolutionary Algorithms
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发表时间：
2016-04
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通讯作者：
S. M. Zadeh;A. Yazdani;K. Sammut;D. Powers
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作者：
S. M. Zadeh;A. Yazdani;K. Sammut;D. Powers
在这项研究中，一个单一的自主水下航行器（AUV）的目标是通过一个混乱和可变的操作领域与一个淹没的领导者回收车辆会合。将交会问题转化为非线性最优控制问题，并给出了数值解。采用罚函数法将边界条件、车辆和环境约束与最终交会时间这一性能指标相结合，提出了四种基于进化的路径规划方法，即粒子群优化算法（PSO）、基于地理的优化算法（BBO）、采用差分进化算法和萤火虫算法建立了反应式规划器模型，并对提出的NOCP进行了数值求解。本文的目标是通过一个综合的仿真研究来综合和分析上述方法的性能和能力，用于引导AUV从游荡点到会合地点。所提出的规划器模块需要一个启发式的改进路径，考虑到潜在环境的态势感知，包括静态和动态的障碍物淹没在时空电流矢量。这导致适应不可预见的变化，在经营领域如出现不可预测的障碍物或电流矢量场和湍流区域的变化。仿真结果表明，固有的鲁棒性和显着的效率，所提出的规划器在提高车辆的自主性，在使用电流的力量，应付不希望的电流干扰所需的交会目的。根据所得结果，提出了各种方法的优缺点。
In this study, a single autonomous underwater vehicle (AUV) aims to rendezvous with a submerged leader recovery vehicle through a cluttered and variable operating field. The rendezvous problem is transformed into a nonlinear optimal control problem (NOCP) and then numerical solutions are provided. A penalty function method is utilized to combine the boundary conditions, vehicular and environmental constraints with the performance index that is final rendezvous time.Four evolutionary based path planning methods namely particle swarm optimization (PSO), biogeography-based optimization (BBO), differential evolution (DE) and Firefly algorithm (FA) are employed to establish a reactive planner module and provide a numerical solution for the proposed NOCP. The objective is to synthesize and analysis the performance and capability of the mentioned methods for guiding an AUV from loitering point toward the rendezvous place through a comprehensive simulation study.The proposed planner module entails a heuristic for refining the path considering situational awareness of underlying environment, encompassing static and dynamic obstacles overwhelmed in spatiotemporal current vectors.This leads to accommodate the unforeseen changes in the operating field like emergence of unpredicted obstacles or variability of current vector filed and turbulent regions. The simulation results demonstrate the inherent robustness and significant efficiency of the proposed planner in enhancement of the vehicle's autonomy in terms of using current force, coping undesired current disturbance for the desired rendezvous purpose. Advantages and shortcoming of all utilized methods are also presented based on the obtained results.