自主水下航行器多终点航路规划的距离正则化混合水平集算法研究.docx

自主水下航行器多终点航路规划的距离正则化混合水平集算法研究
摘要：
本文主要研究了一种自主水下航行器多终点航路规划的距离正则化混合水平集算法。该算法通过引入距离正则化项，将航路规划问题转化为距离场的求解问题，并结合混合水平集方法进行求解，从而实现了对多终点的航路规划。此外，本文还通过实验验证了本算法的有效性和可行性，为自主水下航行器的航路规划提供了新的思路和方法。
关键词：自主水下航行器；多终点；距离正则化混合水平集算法；航路规划
Introduction：
Withthedevelopmentofunderwatertechnology,underwatervehicleshavebeenwidelyusedinvariousfieldssuchasscientificresearch,military,andindustry.Theautonomousunderwatervehiclehasbecomeanimportantresearchdirection.Forautonomousunderwatervehicles,routeplanningisanimportanttask,whichdirectlyaffectstheefficiencyandsafetyofunderwatermissions.Atpresent,therearemanyresearchesontherouteplanningofautonomousunderwatervehicles,butmostofthemarebasedontheoptimizationalgorithm,whichislimitedintermsofapplicabilityandefficiency.Therefore,itisnecessarytoproposeanewmoreeffectiverouteplanningalgorithmforautonomousunderwatervehicles.
Method：
Inthispaper,weproposeadistanceregularizationmixedlevelsetalgorithmformulti-endpointrouteplanningofautonomousunderwatervehicles.Thealgorithmconvertstherouteplanningproblemintoadistancefieldsolvingproblembyintroducingdistanceregularizationterms,andcombineswiththemixedlevelsetmethodforsolving,therebyachievingmulti-endpointrouteplanning.Specifically,thealgorithmfirstinitializestheendpointdistancefieldanddesignsthedistanceregularizationtermforthedistancefield.Then,themixedlevelsetmethodisusedtoevolvethelevelsetfunctionofthedistancefieldandtheinterfacecurve.Finally,theoptimalrouteisselectedbasedonthedistancefieldandthecorrespondingseamline.
Experiment：
Inordertoverifytheeffectivenessandfeasibilityoftheproposedalgorithm,experimentswereconductedontheMATLABplatform.Thesimulationresultsshowthattheproposedalgorithmcaneffectivelyandstablyplanthemulti-endpointrouteofautonomousunderwatervehicles.Comparedwiththetraditionaloptimizationalgorithm,thedistanceregularizationmixed-levelsetalgorithmcanachievefasterandmoreeffectiverouteplanning.
Conclusion：
Inthispaper,weproposeadistanceregularizationmixedlevelsetalgorithmformulti-endpointrouteplannin