In view of the existing multiple AUVs cooperative route planning algorithm does not consider the impact of current and route conflict on route planning, the robustness is not good and the quality of route is not high, this paper proposes a new hybrid level set algorithm based on the optimal fusion of total energy consumption and sailing time. The new algorithm considers the constraints of energy consumption and route conflict, and achieves a better fusion of low exposure risk and low total energy consumption. In addition, in order to improve the efficiency of cooperative route planning, the level set method is used in the new algorithm. The new algorithm is simulated and verified in the three-dimensional simulated current environment and the three-dimensional real current environment. The simulation results show that the new algorithm is feasible and effective.
A Novel Algorithm of Pre-Cooperative Route Planning for Multiple AUVs Based on Level Set Method
Lect. Notes Electrical Eng.
2021-10-30
14 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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