Based On Estimation Of Distribution Algorithm AUV Path Planning Research And Monitoring System Design

As a huge major resource exploration and competition area,the ocean has been developed and explored for many years,but most of the areas have not been developed or discovered.The development of AUV technology has become an important tool for ocean exploration.Among them,the path planning technology is the prerequisite for the AUV to successfully execute the task.Its performance determines the performance of AUVs.In the face of complex Marine environment,excellent path planning technology can comprehensively consider energy consumption,efficiency and external environmental interference and other factors to plan a safe and reasonable path.In this thesis,the 3D path planning technology of "Sea Explorer Ⅱ" AUV is studied in the aspects of global path planning and energy control strategy based on distribution estimation algorithm.The main research work is as follows:In this thesis,the experimental control system of path planning for "Sea Explorer Ⅱ" AUV is designed.The system is composed of AUV robot body,digital transmission radio,control computer and other equipment.The hardware structure and control system of AUV ontology are designed according to the requirement of path planning experiment.The designed AUV can realize six degrees of freedom motion,remote control,data communication,integrated navigation,path tracking and other functions.The system meets the experimental requirement of path planning system.In order to solve the problem of falling into local optimum and slow convergence when calculating the optimal path of AUV based on the fixed-width histogram distribution estimation algorithm,a fusion strategy of individual updating method is proposed.Based on the original algorithm,part of the individual updating mechanism of the Wolf pack optimization algorithm is integrated to increase the diversity of the individual updating methods and improve the optimization speed and ability of the algorithm.At the same time,cubic spline function is introduced to optimize the smoothness of the path and make the optimal path conform to the actual motion ability of AUV.The original algorithm and the improved algorithm are used for path optimization in underwater simulation environment.Simulation results show that the proposed new AUV path planning method improves the accuracy and smoothness of the optimal path.Aiming at the problem that the fixed-width histogram distribution estimation algorithm is easy to fall into local optimal and high energy consumption when calculating the optimal energy consumption path of AUV under the influence of ocean current factors,an effective optimization method is proposed.On the basis of the original algorithm,the partial screening mechanism of the dominant individual in the particle swarm optimization algorithm is integrated.It improves the accuracy of the algorithm to calculate the optimal path and increases the convergence speed.At the same time,the actual energy consumption parameters of the "Sea Explorer Ⅱ" AUV equipment are considered in the cost function.It makes the energy consumption of the calculated path conform to the actual energy consumption of the AUV.A new algorithm is used to calculate the optimal energy consumption path in underwater current environment.Simulation results show that the energy consumption of the optimal path calculated by the new algorithm is significantly lower than that of the comparison algorithm,which can better meet the actual demand of AUV.A monitoring software based on Qt and MATLAB is developed according to the actual demand of "Sea Explorer Ⅱ" AUV.The functions of motion control,path planning and map display of the software and AUV body equipment are realized.The AUV remote control function and path planning performance were tested in a pool and a lake.The experimental results show that the path planning controller and energy consumption controller designed in this thesis can calculate the safe path that meets the actual demand of AUV and saves energy.