随机环境中的自主水下航行器鲁棒全局路径规划

张佳欣; 刘妹琴; 张森林; 郑荣濠

doi:10.1631/FITEE.2200026

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随机环境中的自主水下航行器鲁棒全局路径规划

常规文章 | Updated：2023-01-11

- 随机环境中的自主水下航行器鲁棒全局路径规划
- Robust global route planning for an autonomous underwater vehicle in a stochastic environment
- 信息与电子工程前沿（英文） 2022年23卷第11期页码：1658-1672
- Affiliations：
  
  1.State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou 310027, China
  2.College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China
  3.Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, Xi’an 710049, China
- Author bio：
  
  E-mail: zhangjiaxin@zju.edu.cn;
  ‡Corresponding author
  slzhang@zju.edu.cn;
  rzheng@zju.edu.cn
- Funds：
  
  National Natural Science Foundation of China and Zhejiang Joint Fund for the Integration of Industrialization and Informatization(U1809212;U1909206);Fundamental Research Funds for the Zhejiang Provincial Universities(2021XZZX014);National Natural Science Foundation of China(62088102)
- DOI：10.1631/FITEE.2200026
  中图分类号： TP242.2
- 收稿：2022-01-20，
  
  录用：2022-03-07，
  
  网络出版：2022-04-29，
  
  纸质出版：2022-11-0
- Accepted：
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张佳欣, 刘妹琴, 张森林, 等. 随机环境中的自主水下航行器鲁棒全局路径规划[J]. 信息与电子工程前沿（英文）, 2022,23(11):1658-1672.

Jiaxin ZHANG, Meiqin LIU, Senlin ZHANG, et al. Robust global route planning for an autonomous underwater vehicle in a stochastic environment[J]. Frontiers of Information Technology & Electronic Engineering, 2022, 23(11): 1658-1672.
张佳欣, 刘妹琴, 张森林, 等. 随机环境中的自主水下航行器鲁棒全局路径规划[J]. 信息与电子工程前沿（英文）, 2022,23(11):1658-1672. DOI： 10.1631/FITEE.2200026.

Jiaxin ZHANG, Meiqin LIU, Senlin ZHANG, et al. Robust global route planning for an autonomous underwater vehicle in a stochastic environment[J]. Frontiers of Information Technology & Electronic Engineering, 2022, 23(11): 1658-1672. DOI： 10.1631/FITEE.2200026.

摘要

本文提出一种在随机局部路径成本下使自主水下航行器在作业海域选择性地完成部分预定任务的路径规划器。该问题被表述为定向越野问题的变体。本文在遗传算法（GA）的基础上，提出一种基于贪心策略的遗传算法（GGA）。该算法包含一种新颖的通过在进化过程中将不可行个体映射到可行解空间来提高优化效率的重生算子，并以差分进化规划器计算确定性局部路径成本。局部路径成本的不确定性来自不可预测的障碍物、测量误差和轨迹跟踪误差。为了提高规划器在不确定环境下的鲁棒性，设计了一种用于路径评估的采样策略，通过对局部路径的概率密度函数多次采样，得到对路径实际成本的估计。通过蒙特卡罗仿真实验验证所提规划器的优越性和有效性。仿真结果表明，所提出的GGA在总收益方面优于同类算法4.7%–24.6%，而基于抽样的GGA路径规划器（S-GGARP）相较于普通的GGA路径规划器（GGARP）提高了5.5%的平均收益。

Abstract

This paper describes a route planner that enables an autonomous underwater vehicle to selectively complete part of the predetermined tasks in the operating ocean area when the local path cost is stochastic. The problem is formulated as a variant of the orienteering problem. Based on the genetic algorithm (GA)

we propose the greedy strategy based GA (GGA) which includes a novel rebirth operator that maps infeasible individuals into the feasible solution space during evolution to improve the efficiency of the optimization

and use a differential evolution planner for providing the deterministic local path cost. The uncertainty of the local path cost comes from unpredictable obstacles

measurement error

and trajectory tracking error. To improve the robustness of the planner in an uncertain environment

a sampling strategy for path evaluation is designed

and the cost of a certain route is obtained by multiple sampling from the probability density functions of local paths. Monte Carlo simulations are used to verify the superiority and effectiveness of the planner. The promising simulation results show that the proposed GGA outperforms its counterparts by 4.7%–24.6% in terms of total profit

and the sampling-based GGA route planner (S-GGARP) improves the average profit by 5.5% compared to the GGA route planner (GGARP).

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references

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