水下滑翔机多点探测能耗最低路径的规划方法

doi:10.3901/JME.2023.05.156

机械工程学报 ›› 2023, Vol. 59 ›› Issue (5): 156-166.doi: 10.3901/JME.2023.05.156

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水下滑翔机多点探测能耗最低路径的规划方法

吴宏宇^1,2, 牛文栋³, 张玉玲^1,2, 王树新³, 阎绍泽^1,2

1. 清华大学机械工程系北京 100084;
2. 清华大学高端装备界面科学与技术全国重点实验室北京 100084;
3. 天津大学机构理论与装备设计教育部重点实验室天津 300072

收稿日期:2022-06-09 修回日期:2022-09-15 出版日期:2023-03-05 发布日期:2023-04-20
通讯作者: 阎绍泽(通信作者),男,1964年出生,博士,教授,博士研究生导师。主要研究方向为智能仿生与机械动力学。E-mail:yansz@mail.tsinghua.edu.cn
作者简介:吴宏宇,男,1993年出生,博士后,水木学者。主要研究方向为机械动力学、水下滑翔机和多学科优化。E-mail:hongyu@buaa.edu.cn;王树新,男,1966年出生,博士,教授,博士研究生导师,中国工程院院士。主要研究方向为智能机器人技术、机械系统动力学与控制和先进制造技术。E-mail:shuxinw@tju.edu.cn
基金资助:
国家自然科学基金(12172188)和清华大学水木学者计划(2022SM018)资助项目。

Path Planning Method for Multi-point Exploration of Underwater Glider to Minimize Energy Consumption

WU Hongyu^1,2, NIU Wendong³, ZHANG Yuling^1,2, WANG Shuxin³, YAN Shaoze^1,2

1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084;
2. State Key Laboratory of Tribology in Advanced Equipment, Tsinghua University, Beijing 100084;
3. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072

Received:2022-06-09 Revised:2022-09-15 Online:2023-03-05 Published:2023-04-20

摘要/Abstract

摘要： 作为一种有前途的海洋现象自主观测平台，水下滑翔机通过调节自身净浮力和姿态实现空间运动。由于低能耗的驱动方式，水下滑翔机非常适合执行长期海洋探测任务。针对水下滑翔机的多点探测任务，本文提出一种能耗最低路径的规划方法。首先，建立了滑翔机整机动力学模型，推导了单剖面滑翔运动能耗模型。基于仿真结果，采用多项式拟合方法确定了滑翔机的能耗、航程、控制参数值和目标下潜深度之间的近似函数表达式。在运动路径给定条件下，研究了滑翔机能耗与剖面数之间的关系。在此基础上，将多点探测任务的路径规划抽象为旅行商问题(Traveling salesman problem, TSP)，并基于遗传算法给出了该问题的求解方法。数值算例表明，该路径规划方法可有效降低滑翔机在执行多点探测任务时所需能耗。

关键词: 水下滑翔机, 动力学分析, 能耗模型, 路径规划, 遗传算法

Abstract: As a promising autonomous observation platform for ocean phenomenon, underwater glider can achieve space motion by adjusting its net buoyancy and attitude. Because of the driving mode with relatively low energy consumption, underwater glider is suitable for long-term ocean exploration missions. For the multi-point exploration missions of underwater glider, this paper proposes a path planning method to minimize the glider energy consumption. First, the dynamic model of underwater glider is established, and the energy consumption model of the glider motion in a single profile is further deduced. Based on the simulation results, the polynomial fitting method is used for determining the approximate functional expressions among the glider energy consumption, voyage range, control parameter values and targeted diving depth. Under the specific motion path, the relationship between the glider energy consumption and the motion profile number is studied. Further, the path planning of multi-point exploration missions is regarded as a traveling salesman problem (TSP), and a genetic algorithm-based method is proposed to solve the above path planning problem. The numerical example illustrates that the proposed path planning method can effectively reduce the energy consumption of underwater glider when carrying out the multi-point exploration mission.

Key words: underwater glider, dynamic analysis, energy consumption model, path planning, genetic algorithm

中图分类号:

TH113

吴宏宇, 牛文栋, 张玉玲, 王树新, 阎绍泽. 水下滑翔机多点探测能耗最低路径的规划方法[J]. 机械工程学报, 2023, 59(5): 156-166.

WU Hongyu, NIU Wendong, ZHANG Yuling, WANG Shuxin, YAN Shaoze. Path Planning Method for Multi-point Exploration of Underwater Glider to Minimize Energy Consumption[J]. Journal of Mechanical Engineering, 2023, 59(5): 156-166.

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水下滑翔机多点探测能耗最低路径的规划方法

Path Planning Method for Multi-point Exploration of Underwater Glider to Minimize Energy Consumption

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