Research On Underwater Vehicle Penetration Dynamic Route Design

Penetration route planning under water is different from the traditional pathplanning is the traditional path planning will smooth for avoidance obstacle andpath distance and route quality as the research focus,and the underwaterpenetration route planning out to consider the above factors,the secret of thegreater emphasis on line.Line penetration static global underwater terrain threat and rely on static known threats were planning,but in practice if the contingency is the emergence of the penetration along the route,this needs to carry on the dynamic real penetration route adjustment to cope with unexpected emergencies.This article is in using this method first planning a route penetration of a global water static,then based on the global waterpenetration route carries on two times of dynamic adjustment plan to deal with the dynamic emergency.Firstly,based on the deficiency of harmony search algorithm,proposed animproved harmony search co evolutionary algorithm based on the thought ofpigment,and from the simulation experiment shows that the improved algorithmhas greatly improved the speed and accuracy of convergence in genetic algorithm,and come to see compared with the particle swarm optimization algorithm,the improved algorithm not only high precision but also avoid thegenetic algorithm and particle swarm algorithm premature convergence problem.Then,static known threat penetration route planning of underwater submarine topography three-dimensional space environment and effects,to establish thepenetration of threat space model under static global water.Based on themodel of full consideration and analysis of various factors affecting the waterpenetration,functional fitness for static global water penetration and the design,the use of collaborative harmony improved search algorithm for line penetrationa static global underwater.Finally,aiming at the influence of unknown threats under water penetrationroute back,establish dynamic threat penetration space model,let the submarine navigation routes along the penetration of global water planningwell,through sonar detection means constantly to the external environment the implementation of detection,timely found local path on the threat,adjustingpenetration route thus to avoid the threat,the design of simulation experiments verify the feasibility of dynamic penetration route and performance.The analysis results show that with the dynamic real-time adjustment can very good avoid dynamic unknown threats by harmony search global penetration routeplanning algorithm,very good to complete the task of dynamic penetration.