Research On Multi-Underwater Gliders Path Optimization Technology For Ocean Sampling

The purpose of ocean observations is to obtain ocean-acquisition data and master the laws of ocean environmental changes through various observation tools.As a new type of autonomous underwater vehicle,Underwater Glider is one of the most effective tools for marine observation;and Underwater Glider has the advantages of low energy consumption,long working hours,no pollution and high efficiency.This paper focuses on the research of underwater glider.It focuses on the study of the selection of ocean sampling locations and the path planning of traversing sampling locations.The main research work is as follows:Firstly,this paper uses the Kriging interpolation method to reconstruct the marine environmental field as the evaluation method of the ocean sampling location.Through comparative experiments,it is proved that based on the Mutual Information criterion the root mean square error of choosing the sampling location of the ocean is smaller than that based on the maximum entropy criterion.The guidelines are more suitable for the selection of ocean sampling locations in this paper.Secondly,this paper cosiders the traversal problem of marine sampling locations as the typical traveling salesman problem(TSP).Through detailed analysis and study of ant colony algorithm and Lin-Kernighan algorithm,this paper proposes an ACO-LK hybrid algorithm that hybridizes the ant colony algorithm and the Lin-Kernighan algorithm to solve the TSP problem and verify the effectiveness of the algorithm.Thirdly,it is considered as the asymmetric traveling salesman problem(ATSP)when the ocean current downdraft is a traversal problem of ocean sampling location.This paper converts ATSP to TSP and then uses ACO-LK hybrid algorithm to solve the TSP problem.Then,the spatial clustering algorithm is used to transform the multi-water glider ocean sampling location traversal problem into a single underwater glider ocean sampling location traversal problem and to use the ACO-LK hybrid algorithm for the single water glider ocean sampling location traversal problem.Path planning;for the uneven distribution of multiple underwater glider ocean sampling tasks,this paper designs an optimization algorithm to solve and verify the feasibility of the experiment.Finally,based on the historical ocean temperature field data in the East China Sea,this paper designs a simulation experiment to verify the selection of ocean sampling locations based on the Mutual Information criterion and verification of the ACO-LK hybrid algorithm in the ocean under the influence of currents.The gliders cooperate to perform the feasibility of traversing the task of sampling positions in the ocean.