AUV Route Planning And Prediction Based On Ocean Current Environment

With the increasing prosperity of social and economic life and the gradual improvement of people's living standards,the world's demand for resources such as oil and minerals is also increasing.Since the beginning of industrialization,due to technical limitations,most of the resources have been obtained by mining land resources,which are basically nonrenewable resources.Long-term mining will inevitably lead to resource depletion and energy shortages.In order to solve this phenomenon,countries and organizations in the world are paying more and more attention to marine resources.However,the ocean space is vast and the environment is complicated.In order to develop the ocean more rationally,some high-tech marine equipment must be used.Among them,underwater robots are the most widely used.They can not only be used for resource development,but also can be fully reflected in the military field.In many research fields of underwater robots,route planning is particularly important.Therefore,this article has conducted research in the following aspects:Inquired about the related papers of previous scholars on AUV path planning,analyzed various factors that may affect the AUV route and the difficulty of AUV path planning in the marine environment: ocean current factors are more difficult to consider.Completed the construction of the random forest algorithm under the big data platform.Through the current velocity(size and direction),water pressure(size and direction),wave height and the number of obstacles,the variables that may have an impact on the AUV path are the feature vectors.Use it as an independent variable,use random forest to divide the entire space into several subspaces,build a complete random forest,and learn and train decision trees.Input independent variables to predict the final time,distance and loss of the AUV from the starting point to the destination.On this basis,the actual feasibility of the algorithm is verified based on the comparison between the predicted result and the actual result.The classic D* algorithm is difficult to consider the shortcomings of ocean currents in navigation planning and improved.The overall block diagram of the path planning of the underwater robot is established,and the sea water motion equation is established based on the force analysis.The raster method is used to simulate the path of the underwater robot,and the random forest obtained from the predicted amount of ocean current data is converted into an equivalent path length,and the path planning method of the Dijkstra algorithm is used to fill the gaps in the ocean current data path planning.Through simulation comparison,path planning considering the influence of ocean currents can effectively save energy.By controlling the number of ocean currents and obstacles,a simplified path comparison chart with and without ocean current path planning is generated.It can be seen that the path planning method based on the ocean current prediction model can better achieve energy saving,make the total reduction path of the AUV shorter,and verify the effectiveness of the algorithm.