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基 于 多 AUV间任务协作的水下多目标探测路径规划！
张 美 燕 1 ，蔡 文 郁 2 ! ( 1 .浙江水利水电学院电气工程系，浙江杭州，310018;2.杭州电子科技大学电子信息学院，浙江杭州，310018)
o f research high lig hts in the fie ld o f m arine technology. M u ltip le A U V s task allocation and m u ltip le targets cooperative
p a tli plan nin g m echanism in three-dim ensional underw ater region are m ainly discussed. A ccording to the actual situa­
2.School o f Electronics and Inform ation, Hangzhou Dianzi University, Hangzhou 310018 , China)
A b s t r a c t : C ooperative d e te ctio n on m u ltip le u n de rw ater targets w ith Autonom ous U n de rw ater V e h ic le s ( A U V s %is one
tio n o f u n de rw ater region &a m ultijDle tra v e lin g salesman ( MTSP ) m odel w itli constraints o f energy con sum p tion and b a l­
ance rate of
ZHANG MeiYan1 ,CAI WenYu2 *
$ 1. !2chool o f Electrical Engir^ering, Zhejiang University o f Water Resources and Electric Power ,Hangzhou 310018 , China ；
each A U V is estalDlislied.
M oreover,cruise distance and
target num ber o f each A U V in MTSP
im p ro ve energy balance between m u ltip le A U V s . F u rth e rm o re ，G A (G e n e tic A lg o r ith m )is in tro d u c e d to solve th is N P -
摘 要 ：利用自主式水下航行器（Autonomous Underwater Vehicle，AUV)对水下多目标进行协同探测是目前海洋技术领域的研 究热点。主要研究在水下三维区间内的多A U V 任务分配与协作探测路径规划机制，建立了以每个A U V 能量耗费与能耗均衡 为约束条件的水下三维空间中的多旅行商MTSP(Multiple T rv lin g Salesman Problem)问题模型，利用遗传算法GA(Genetic Algothm )对该NP-Complete问题进行启发式求解，同时设计了考虑巡航总路径及访问目标数的适应度函数以提高多AU V 间 的能耗均衡性，实现多个A U V 对多个水下目标的优化协同探测。最后本文利用MATLABR2014a软件对多A U V 任务协作与 多目标探测路径规划机制进行了仿真，仿真结果验证了本文方法能均衡多A U V 多目标探测问题的能量消耗，进而提高巡航速
com plete p ro blem in a h e u ris tic m a n n e r，so
as
to
realize optim ization
cooperativeຫໍສະໝຸດ d e te c tio n
m u ltip le A U V s . F in a lly ，th is pa pe r uses M A T L A B 2014a software to sim u late m u ltip le A U V s task cooperation and m u l­
can
im prove cruise speed and
lifetim e of
A U V team
K e y w o r d s : underw ater targets detection ;ta sk a ssig n m e n t'm o b ile trajectory p la n n in g 'm u ltip le A U V s
tip le targets detection path planning mechanism. Sim ulation results verify that the proposed method can balance energy
con sum p tion between A U V s ，and as a re s u lt，it
第 31卷 第 7 期 2018 $ 7 月
传感技术学报
CHINESE JOURNAL OF SENSORS AND ACTUATORS
Vol.31 No.7 July 2018
Underwater Targets Tracking Path Planning Based on Task Cooperation of Multiple AUVs!
度和生命周期。
关 键 词 ：水下目标探测;任务分配; 移动路径规划;多AUV协作
中 图 分 类 号 :TP393
文 献 标 识 码 :A
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