A Novel Distance Regularized Hybrid Level Set Method for AUV Multi-destination Route Planning

doi:10.3969/j.issn.1000-1093.2020.04.014

Abstract

Abstract: To further enhance the computational efficiency of level set method for solving AUV time-optimal route, a hybrid level set method for AUV multi-destination route planning is proposed by combining the localization and the polynomial distance regularized equation. The new level set evolution equation is derived and the numerical implementation method is given by introducing a simple polynomial distance regularized term and fusing the ocean current model. The proposed method can be used to obtain all the optimal routes to all destinations in one evolution without re-initialization of narrowband, and solve the problems of low computational efficiency and long-time multi-destination route planning of AUV. The simulated results show that the computational efficiency of the proposed method is 6.4 times of that of the ant colony algorithm, and 1.6 times of that of the quantum particle swarm algorithm in multi-destinations route planning of AUV, and it also has better robustness. Key

Key words: autonomousunderwatervehicle, polynomial-distanceregularization, hybridlevelset, multi-destination, routeplanning

CLC Number:

TP242.4

SHENG Liang， QIU Zhiming， YU Shaozhen， JIAO Junjie. A Novel Distance Regularized Hybrid Level Set Method for AUV Multi-destination Route Planning[J]. Acta Armamentarii, 2020, 41(4): 750-762.

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第41卷第4期2020 年4月
兵工学报ACTA ARMAMENTARII
Vol.41No.4Apr.2020

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