PROBLEM TO BE SOLVED: To set an optimum underwater navigation route for an underwater sailing body, and execute navigation control.SOLUTION: A route setting method of an underwater sailing body includes an underwater navigation point input step S12 for inputting an underwater navigation point of an underwater sailing body, a target value setting step S14 for setting an initial target value in the underwater navigation point, an underwater navigation simulation step S22 for simulating an underwater navigation route of the underwater sailing body for the target value based on a motion model of the underwater sailing body using data on the topography of a water bottom and the target value, and a target value update step S28 for updating the target value based on an evaluation function calculated based on the underwater navigation route acquired by the simulation in the underwater navigation simulation step S22. An optimum target value is derived by repeating the underwater navigation simulation step S22 and the target value update step S28.SELECTED DRAWING: Figure 3
【課題】水中航走体に対して最適な潜航経路を設定して航行制御することを可能とする。【解決手段】水中航走体の潜航点を入力する潜航点入力ステップS12と、潜航点における初期の目標値を設定する目標値設定ステップS14と、水底地形のデータと目標値とを用いて水中航走体の運動モデルに基づいて目標値に対する水中航走体の潜航経路をシミュレーションする潜航シミュレーションステップS22と、潜航シミュレーションステップS22におけるシミュレーションで得られた潜航経路に基づいて算出される評価関数に基づいて目標値を更新する目標値更新ステップS28とを備え、潜航シミュレーションステップS22と目標値更新ステップS28を繰り返すことによって最適な目標値を導出する。【選択図】図3
ROUTE SETTING METHOD OF UNDERWATER SAILING BODY, OPTIMUM CONTROL METHOD OF UNDERWATER SAILING BODY USING THE SAME, UNDERWATER SAILING BODY, AND ROUTE SETTING METHOD OF MOVING BODY
水中航走体の経路設定方法、それを用いた水中航走体の最適制御方法及び水中航走体並びに移動体の経路設定方法
2017-06-15
Patent
Electronic Resource
Japanese
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
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