Research on Performance Evaluation of Autonomous Underwater Vehicle’ Path Planning in Complex Scenes
Mingqian Mi, Hanxu Sun, Xiaojuan Lan · 2020
Aiming at the problems of lack of operation for path guidance in complex scene, difficulty in quantifying evaluation index of path planning, and over idealization of evaluation results, this paper analyzes the common working conditions faced by autonomous underwater vehicle in complex scene, establishes a complete quantitative evaluation index model, uses analytic hierarchy process (AHP) to weight the index, and proposes an improved cloud-gravity-center evaluation method, the expert evaluation method transforms the fixed comment set of cloud model into the quantitative score of path planning' effectiveness in complex scenarios, and improves the A* algorithm based on the energy cost of yawing in the evaluation index model, based on the complex scene, the effectiveness evaluation of the path before and after the improvement of A* algorithm is carried out. The simulation results show that the method is practical in unstructured scene, and the analysis of evaluation results can effectively guide path planning for task of autonomous underwater vehicle, and has high application value.