Region Division And Path Mapping For Autonomous Underwater Vehicle Cooperative Control

Underwater Acoustic Sensor Networks(UASNs)are widely used in the field of marine development,in which the positioning system is an important technical means to assist the construction of national defense sea areas and the development and utilization of marine resources.Autonomous Underwater Vehicle(AUV)is a device that can complete work independently,with a wide range of tasks,including marine exploration,underwater heritage archaeology,etc.The AUV is rechargeable and autonomous,and is very suitable for assisting UASNs to perform tasks such as data collection and underwater positioning.The AUV traversing the underwater target area completes the information transmission with other nodes by sending its own localization and other information packets regularly,thus assisting the UASNs node to locate.In recent years,the localization of UASNs nodes by means of AUV path planning has attracted extensive attention from scholars at home and abroad.The research direction is mainly aimed at the target node localization accuracy,localization coverage,energy consumption and algorithm stability.Aiming at the problems of low coverage and high error of localization algorithm in sparse underwater acoustic sensor networks,this paper proposes a truncated octahedron(TO)model region division localization algorithm(TORD)for cooperative control of underwater robots.Firstly,the positioning system model is built,and it is proposed that the TO model meets the principle of three-dimensional target area division,and its volume ratio is proved to be relatively optimal;Then the optimal region division method of TO model is designed,and the minimum value judgment method is proposed to further integrate the target nodes,and the AUV cooperative control mechanism is used to screen the sub-regions containing the target nodes;By analyzing the influence of the communication radius and the number of virtual anchor nodes on the experimental results,the optimal positioning parameters are set to reduce the energy consumption and positioning error.Finally,the least square method is used to complete the positioning.In this paper,simulation experiments are carried out on localization coverage,AUV path length and localization accuracy in sub-regions.The results show that the proposed algorithm has less error,high localization coverage and strong robustness compared with other region division schemes.Aiming at the problems of low localization coverage and high energy consumption of AUV path planning algorithm in UASNs,this paper proposes a spiral path planning scheme(FG-SPIRAL)for autonomous underwater vehicles(AUVs)suitable for three-dimensional target waters.This scheme builds a path planning model based on the three-dimensional spiral according to the square target area,proposes the moving path mapping method and the definition of the path smoothing coefficient that fit the tangent of the target area,deduces the relationship between the smoothing coefficient and the energy consumption,forms a three-dimensional spiral path planning scheme with better smoothing performance,and gives the calculation method of the moving energy consumption and path length.In order to verify the path performance,based on this scheme and the least squares positioning method,a positioning algorithm for underwater vehicle path planning(3D-SPC)is proposed.The experiment shows that the proposed path planning scheme FG-SPIRAL has excellent performance in terms of energy consumption,path length,localization coverage and localization accuracy.The localization coverage can reach a high level under the premise that the relative localization error is not exceed 10%.