Multi-Autonomous Underwater Vehicle Full-Coverage Path-Planning Algorithm Based on Intuitive Fuzzy Decision-Making

被引:2
|
作者
Zhang, Xiaomeng [1 ,2 ]
Hao, Xuewei [1 ,2 ]
Zhang, Lichuan [1 ,2 ]
Liu, Lu [1 ,2 ]
Zhang, Shuo [3 ]
Ren, Ranzhen [1 ,2 ]
机构
[1] Northwestern Polytech Univ, Sch Marine Sci & Technol, Xian 710072, Peoples R China
[2] Northwestern Polytech Univ, Res & Dev Inst, Shenzhen 518057, Peoples R China
[3] Northwestern Polytech Univ, Sch Math & Stat, Xian 710072, Peoples R China
基金
中国国家自然科学基金;
关键词
multi-AUV; intuitional fuzzy decision; full-coverage path planning;
D O I
10.3390/jmse12081276
中图分类号
U6 [水路运输]; P75 [海洋工程];
学科分类号
0814 ; 081505 ; 0824 ; 082401 ;
摘要
Aiming at the difficulty of realizing full-coverage path planning in a multi-AUV collaborative search, a multi-AUV full-coverage path-planning algorithm based on intuitionistic fuzzy decision-making is proposed. First, the state space model of the search environment was constructed using the raster method to provide accurate environment change data for the AUV. Second, the full-coverage path-planning algorithm for the multi-AUV collaborative search was constructed using intuition-based fuzzy decision-making, and more uncertain underwater information was modeled using the intuition-based fuzzy decision algorithm. A priority strategy was used to avoid obstacles in the search area. Finally, the simulation experiment verified the proposed algorithm. The results demonstrate that the proposed algorithm can effectively realize full-coverage path planning of the search area, and the priority strategy can effectively reduce the generation of repeated paths.
引用
收藏
页数:14
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