資源描述：
《基于海圖建模的水下潛器路徑規(guī)劃分析-(5703)》由會(huì)員上傳分享，免費(fèi)在線(xiàn)閱讀，更多相關(guān)內(nèi)容在行業(yè)資料-天天文庫(kù)。
1、;<=>?? ? ??à?? d????? ?。EF???(? ?；tR?3?úe????LM?g，^(?????V(?/，?j???g???<%&'s???(??à)*；^?o(??????rs(???
2、}?{/；^
3、/，?
4、????oIu??，t,?`?o7??? p
5、7，??@
6、s7?r7??>，?
7、/I????`?J?? ￠，sHm?ef?à? fde。?ê：?；?9； ?；?f； f萬(wàn)方數(shù)據(jù)?? ??"ABSTRACTPathplanni
8、ngisthekeytechniqueofintelligentnavigationforunderwatervehicle.Lookingforasafeandfastnavigationpathintheoceanwithbothdynamicandstaticobstaclesisthepreconditionforunderwatervehicleoperation.Inordertoplanarouteofunderwatervehicleinthree-dimensionalspaceenvironmentofoceanmoreaccurate,thestudy
9、isdividedintothreeparts.Firstly,tosimulatethe3Doceanenvironment,divideunderwatervehiclepathplanningproblemintostaticglobalpathplanninganddynamicreal-timeobstacleavoidance.Thenintheglobalpathplanning,antcolonyalgorithmisusedtosolvegridpathinsmallgridspace,andQPSOisusedtoplanpathinlargeareao
10、fcomplexoceanenvironment.Finally,toestimatethedynamicobstaclemotionusingKalmanfiltering,andtorepulseawayfromtheobstaclesisbasedontherelativemotionbetweenunderwatervehicleandobstacles.Thearticleinvestigatesmainworkasfollows:Bytheuseofwaterdepthdatainelectronicchart,theunderwater3Denvironmen
11、tmodelofthepathplanningresearchareaisestablished.Extracteddiscretewaterdepthdatapointsfrom2Dvectorelectronicchart,andoriginalwaterdepthdatapointsDelaunaytriangulationnetworkmodelisestablished.AmidpointinterpolationmodelofDelaunaytriangulationisestablishedusingrandommidpointdisplacementmeth
12、odbasedonfractalBrownianmotion.Triangularinsideinterpolationmethodisputforwardtolookupinterpolationpointfast.ThemethodisusedtochangethedispersedDelaunaytriangulationmodeltoregulargriddata.Improvedfractalinterpolationalgorithmisusedtochangethegriddatageneratedthree-dimensionalmodelonunderse
13、a.Antcolonyalgorithmisusedtoglobalpathplanninginsubmarinegridmodelspace.Afterintroducingthebasicprincipleofantcolonyalgorithm,gridmarineenvironmentmodelwhichsuitablefortheantcolonyalgorithmtosolvethepathplanningproblemisestablished.Accordingtothewaterdepthdata
