引用本文: 朱心科, 俞建成, 王晓辉. 能耗最优的水下滑翔机采样路径规划[J]. 机器人, 2011, 33(3): 360-365.
ZHU Xinke, YU Jiancheng, WANG Xiaohui. Sampling Path Planning of Underwater Glider for Optimal Energy Consumption[J]. ROBOT, 2011, 33(3): 360-365.
 Citation: ZHU Xinke, YU Jiancheng, WANG Xiaohui. Sampling Path Planning of Underwater Glider for Optimal Energy Consumption[J]. ROBOT, 2011, 33(3): 360-365.

## Sampling Path Planning of Underwater Glider for Optimal Energy Consumption

• 摘要: 研究了以能耗为优化准则的水下滑翔机海洋环境参数采样路径规划方法．首先，根据水下滑翔机的运动特点，建立了水下滑翔机采样作业过程的能耗模型；其次，基于能耗模型提出了一种能耗最小的滑翔运动参数优化方法，该方法避免了求解复杂的混合整数非线性规划问题；之后，在能耗最优的滑翔运动参数优化基础上，提出了一种基于两步链式Lin-Kernighan算法的水下滑翔机海洋环境参数采样路径优化方法．最后，以Sea-Wing水下滑翔机为例，对上述优化方法进行了仿真验证．

Abstract: An approach to path planning for ocean sampling of underwater glider is studied based on the criterion of energy consumption.Firstly,according to the motion feature of underwater glider,the energy consumption model of the underwter glider during ocean sampling course is constructed.Secondly,given the energy consumption model,an approach to optimize the gliding parameters is proposed,which can avoid solving mixed integer nonlinear programming problem.Sequently, two-step chained Lin-Kernighan algorithm is devised to optimize the ocean sampling path for underwater glider based on the optimal gliding parameters of the energy consumption model.Finally,by applying the true parameters of Sea-Wing underwater glider,methods proposed above are proved by simulation.

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