CN113467485B - ROV and mother ship cooperative underwater target search path planning and dynamic updating method - Google Patents

ROV and mother ship cooperative underwater target search path planning and dynamic updating method Download PDF

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CN113467485B
CN113467485B CN202111029235.XA CN202111029235A CN113467485B CN 113467485 B CN113467485 B CN 113467485B CN 202111029235 A CN202111029235 A CN 202111029235A CN 113467485 B CN113467485 B CN 113467485B
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CN113467485A (en
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马杰
郑依凡
余逸飞
刘克中
郑红兵
张煜
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Wuhan University of Technology WUT
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Abstract

A method for planning and dynamically updating an underwater target search path by cooperation of an ROV and a mother ship comprises the following steps: calculating the path points of the mother ship on the water surface according to the provided search area, and planning the motion path of the mother ship on the water surface; the mother ship on the water surface moves to the path point; under the condition that the relative relation between the ROV and the water surface mother ship is normal, rasterizing a current search subarea for the first time, wherein a first layer of grids is an ROV global path planning layer, and performing global path planning and dynamic updating on the first layer of grids by adopting a biological excitation neural network algorithm; and rasterizing the first layer of grid for the second time, wherein the second layer of grid is an ROV path dynamic updating layer, realizing the local track planning and dynamic updating of the ROV, and judging whether the ROV triggers the second layer of grid dynamic updating condition in real time until the current first layer of grid searching is completed. The design achieves full coverage of a forward looking sonar on a search area under the condition of ensuring safe operation and search efficiency of the ROV.

Description

ROV and mother ship cooperative underwater target search path planning and dynamic updating method
Technical Field
The invention relates to the technical field of underwater target searching and detecting, in particular to a method for planning and dynamically updating an underwater target searching path by cooperation of an ROV and a mother ship.
Background
With the increasing development of marine transportation activities and marine resources, the improvement of underwater salvage exploration capability has important significance for guaranteeing the safety of water transportation and marine engineering. In recent years, underwater robots are developed for deep sea operation, and an operation type ROV (remote operated vehicle) communicates with a mother ship on the water surface through an umbilical cable, but the umbilical cable is quite fragile, and due to the limitation of the umbilical cable, a certain safeguard measure is required for the relative position relationship between the ROV and the mother ship on the water surface. Therefore, planning a search route while ensuring the relative position of the ROV and the mother vessel becomes a key problem in the cooperative search operation. Because the ROV is provided with the forward looking sonar with the detection range of 120 degrees, a missed scanning area may appear due to the influences of the operation of an ROV operator, water flow and the like in the searching process, meanwhile, due to the existence of suspected targets, the ROV needs to be approached and observed, whether the targets are targets or not is confirmed, and the surrounding environment needs to be detected in a full coverage mode, so that the searching path of the ROV is dynamically updated in real time under the condition that the searching efficiency is guaranteed, and the problem that the forward looking sonar detection range can fully cover the searching area is solved.
Disclosure of Invention
The invention aims to overcome the defects and problems that the collaborative searching capability between an ROV and a mother ship on the water surface is poor and a forward looking sonar equipped by the ROV cannot fully cover a searching area in the prior art, and provides a method for planning and dynamically updating a collaborative underwater target searching path between the ROV and the mother ship, which can achieve the full coverage of the forward looking sonar on the searching area under the condition of ensuring the safe operation and searching efficiency of the ROV.
In order to achieve the above purpose, the technical solution of the invention is as follows: a method for planning and dynamically updating an underwater target search path by cooperation of an ROV and a mother ship comprises the following steps:
s1, dividing the provided search area into a plurality of search sub-areas, covering the whole search area with the search sub-areas, calculating the path points of the mother ship on the water surface, and planning the motion path of the mother ship on the water surface;
s2, moving the mother ship on the water surface to the path point;
s3, under the condition that the relative relation between the ROV and the water surface mother ship is guaranteed to be normal, rasterizing a current search subarea for the first time, wherein a first layer of grids is an ROV global path planning layer, and performing global path planning and dynamic updating on the first layer of grids by adopting a biological excitation neural network algorithm;
s4, rasterizing the first layer of grid for the second time, wherein the second layer of grid is an ROV path dynamic updating layer, realizing the ROV local trajectory planning and dynamic updating, and judging whether the ROV triggers the second layer of grid dynamic updating condition in real time until the current first layer of grid searching is completed;
s5, if the current first-layer grid searching is finished, judging whether the current searching subarea is finished; if the search of the current search subarea is finished, returning to the step S2, and updating the path points of the mother ship on the water surface; if the current search sub-area is not completely searched, returning to step S3, and the ROV entering a new first-layer grid search;
if the current first-layer grid searching is not finished, whether a target is found is judged; if no target is found, returning to step S4 to perform the second layer raster search path planning and dynamic update; if the target is found, the search task is ended.
Step S1 specifically includes the following steps:
s11, setting the size of a searching subarea of the mother ship on the water surface;
s12, considering the restriction of the relative relation between the ROV and the surface mother ship, setting the ROV to operate in the port safe area of the surface mother ship, and dividing the searching sub-area of the surface mother ship according to the heading angle of the surface mother ship;
s13, covering the search area with the search sub-area, calculating to obtain all path points
Figure 436654DEST_PATH_IMAGE001
，
Figure 616487DEST_PATH_IMAGE002
，
Figure 131782DEST_PATH_IMAGE003
The searching point set required by the mother ship on the water surface is obtained;
s14, setting the searching point which is closest to the water surface mother ship in the searching point set as the target point of the current water surface mother ship;
and S15, calculating the distances among all the search points, storing the distances in a matrix, and planning the search point set path by adopting a greedy algorithm by taking the total length of the search path of the surface mother ship as an optimization index.
Step S3 specifically includes the following steps:
s31, determining the grid size of the first layer of grid according to the detection range of the forward-looking sonar, and performing first-time rasterization on an ROV search area;
s32, according to the first layer of grids, the ROV is specified to move from the current position to the adjacent first layer of grids in eight directions, namely east, west, south, north, northeast, southeast, northwest and southwest;
s33, global path planning and updating are carried out on the first layer of grids by utilizing a biological excitation neural network algorithm;
and (3) performing full-area coverage by using a biostimulation neural network algorithm, endowing each first layer of grid with an activity value, and selecting the grid with the maximum activity value and the minimum required rotation angle from 8 surrounding grids to move by the ROV each time.
In step S4, the grid that is rasterized for the first time is rasterized for the second time, and the grid is divided into six states, which are a detected area, an undetected area, a suspected target, an unreachable area, a missed scan area, and a blocked area.
In step S4, when a missing scanning area appears on the second-layer grid, determining the type of the missing scanning area;
the missed-scanning area comprises a common missed-scanning area, an isolated missed-scanning area and a backtracking missed-scanning area;
the common miss-scan area is a miss-scan area which is not detected by a forward-looking sonar within the miss-scan area detection range of the ROV and is not visited by the ROV at the first layer of grids around the common miss-scan area;
the isolated miss-scan area is a miss-scan area which is not detected by a forward-looking sonar within the miss-scan area detection range of the ROV and is in contact with an inaccessible area, or a first layer of grid around the miss-scan area is visited by the ROV;
the backtracking missed-scanning area refers to a part of the common missed-scanning area which is not subjected to timely supplementary detection;
when the missed scanning area is a common missed scanning area, if the area of the common missed scanning area is larger than the threshold value of the common missed scanning area, calculating the scanning path point of the missed scanning area in real time, and adopting
Figure 569586DEST_PATH_IMAGE004
Planning the ROV local track by an algorithm; if the area of the common missing scanning area is smaller than the threshold value of the common missing scanning area, backtracking the missing scanning area when next detecting the nearby grids, and recording the information of the missing scanning area;
when the area of the isolated missing scanning region is larger than the threshold of the isolated missing scanning region, or when the area of the isolated missing scanning region is larger than the threshold of the isolated missing scanning regionCalculating the scanning path point of the missed scanning area in real time after the area is less than the threshold value of the missed scanning area and the area is unchanged, and adopting
Figure 285869DEST_PATH_IMAGE004
Planning the ROV local track by an algorithm;
and when the missed scanning area is a backtracking missed scanning area, adding the backtracking missed scanning area into a scanning task of the first layer grid where the current ROV is located.
The calculation method of the scanning path points of the missing scanning area comprises the following steps:
the center coordinates of the missed scan area are:
Figure 887751DEST_PATH_IMAGE005
wherein the content of the first and second substances,
Figure 596950DEST_PATH_IMAGE006
in order to be the coordinates of the grid of missing scans,
Figure 171151DEST_PATH_IMAGE007
the total number of the missed-scan grids;
the positions of scanning path points of the missing scanning area are as follows:
Figure 182969DEST_PATH_IMAGE008
wherein the content of the first and second substances,
Figure 678673DEST_PATH_IMAGE009
is the center coordinate of the missed scan area,
Figure 457142DEST_PATH_IMAGE010
to be the current position coordinates of the ROV,
Figure 557953DEST_PATH_IMAGE011
for the farthest detection range of the forward-looking sonar,
Figure 740673DEST_PATH_IMAGE012
the distance between a suspected target and the forward looking sonar;
included angle between ROV heading and current ROV heading after position updating
Figure 456430DEST_PATH_IMAGE013
Comprises the following steps:
Figure 382797DEST_PATH_IMAGE014
wherein the content of the first and second substances,
Figure 134853DEST_PATH_IMAGE015
for the current direction of the ROV, the direction of the ROV,
Figure 613108DEST_PATH_IMAGE016
is the adjusted ROV heading;
if the angle of rotation needed by the ROV to reach the scanning path point of the missing scanning area is larger than the allowable rotation angle threshold value
Figure 83403DEST_PATH_IMAGE017
Then calculate in
Figure 813462DEST_PATH_IMAGE018
Is used as the center of a circle,
Figure 606974DEST_PATH_IMAGE019
the included angle between the current ROV heading on the circle with the radius is
Figure 397076DEST_PATH_IMAGE017
Is detected at a point of detection
Figure 557930DEST_PATH_IMAGE020
And using the point as the scanning path point of the missing scanning area.
In step S4, when the ROV forward-looking sonar finds a suspected target, stopping adopting the biostimulation neural network algorithm to carry out global path planning on the first layer of grid, selecting the next optimal view angle for the forward-looking sonar, calculating the view point, and adopting the view point after generating the view point
Figure 826100DEST_PATH_IMAGE021
Planning a local track of the ROV by using an algorithm, continuously detecting when the ROV goes to the viewpoint, recording a position generated by the next viewpoint and a first-layer grid number if the obstacle detection in the current first-layer grid is finished, planning a first-layer grid path by using the position of the generated viewpoint, and setting the part, which is shielded behind the obstacle in the current first-layer grid, as a shielded area;
when the ROV detects an obstacle to enter a new first layer grid, the first layer grid is completely covered;
when no more viewpoints can be reproduced, it represents that the obstacle has been detected.
And in the detection range of the forward-looking sonar, if the ratio of the number of times that the second-layer grid is detected as a suspected target by the forward-looking sonar to the total number of times of detection exceeds a threshold value, the second-layer grid is marked as the suspected target.
When a common missing scanning area, an isolated missing scanning area, a backtracking missing scanning area and a suspected target appear in the same first-layer grid, the detection priority is as follows:
Figure 5278DEST_PATH_IMAGE022
。
in step S4, if the dynamic update condition of the second-level grid is not triggered, the ROV performs a search task along the planned path, and the current first-level grid is completely covered by the ROV
Figure 638384DEST_PATH_IMAGE023
And (4) carrying out local track planning on the second-layer grid of the ROV by the algorithm, wherein the local track planning end point is the middle point of the boundary of the first-layer grid which needs to go to next.
Compared with the prior art, the invention has the beneficial effects that:
the invention relates to a route planning and dynamic updating method for searching underwater targets by cooperation of an ROV and a mother ship, which comprises the steps of calculating route points of a mother ship on the water surface according to a provided searching area, planning a motion path, carrying out route planning on a searching sub-area under the condition that the relative relation between the ROV and the mother ship on the water surface is normal in each searching sub-area, rasterizing the ROV searching area twice, wherein a first layer of grid is an ROV global route planning layer, carrying out global route planning and dynamic updating by adopting a biostimulation neural network algorithm, and a second layer of grid is an ROV route dynamic updating layer, so that the local track planning and dynamic updating of the ROV are realized, on the premise that the ROV searching efficiency is ensured, timely supplementary detection is carried out on a missed scanning area, proximity detection is carried out on suspected targets, and full coverage of a forward looking sonar on the searching area is realized through the dynamic updating of the route. Therefore, the invention can achieve the full coverage of the search area by the forward looking sonar under the condition of ensuring the safe operation and the search efficiency of the ROV.
Drawings
FIG. 1 is a flow chart of the present invention.
FIG. 2 is a diagram of two levels of trellis partitioning for search area, search sub-area and ROV according to the present invention.
FIG. 3 is a schematic view of the detection of the region of missed scan of the ROV of the present invention.
FIG. 4 is a schematic diagram of an isolated missing scan region and a backtracking missing scan region in the present invention.
Fig. 5 is a schematic view of a region where normal missing scanning occurs in the present invention.
FIG. 6 is a schematic diagram illustrating the generation of a suspected target detection viewpoint in the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following description and embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 to 6, a method for planning and dynamically updating an underwater target search path by cooperation of an ROV and a mother ship includes the following steps:
s1, dividing the provided search area into a plurality of search sub-areas, covering the whole search area with the search sub-areas, calculating the path points of the mother ship on the water surface, and planning the motion path of the mother ship on the water surface;
s2, moving the mother ship on the water surface to the path point;
s3, under the condition that the relative relation between the ROV and the water surface mother ship is guaranteed to be normal, rasterizing a current search subarea for the first time, wherein a first layer of grids is an ROV global path planning layer, and performing global path planning and dynamic updating on the first layer of grids by adopting a biological excitation neural network algorithm;
s4, rasterizing the first layer of grid for the second time, wherein the second layer of grid is an ROV path dynamic updating layer, realizing the ROV local trajectory planning and dynamic updating, and judging whether the ROV triggers the second layer of grid dynamic updating condition in real time until the current first layer of grid searching is completed;
s5, if the current first-layer grid searching is finished, judging whether the current searching subarea is finished; if the search of the current search subarea is finished, returning to the step S2, and updating the path points of the mother ship on the water surface; if the current search sub-area is not completely searched, returning to step S3, and the ROV entering a new first-layer grid search;
if the current first-layer grid searching is not finished, whether a target is found is judged; if no target is found, returning to step S4 to perform the second layer raster search path planning and dynamic update; if the target is found, the search task is ended.
Step S1 specifically includes the following steps:
s11, setting the size of a searching subarea of the mother ship on the water surface;
s12, considering the restriction of the relative relation between the ROV and the surface mother ship, setting the ROV to operate in the port safe area of the surface mother ship, and dividing the searching sub-area of the surface mother ship according to the heading angle of the surface mother ship;
s13, covering the search area with the search sub-area, calculating to obtain all path points
Figure 880010DEST_PATH_IMAGE024
，
Figure 876172DEST_PATH_IMAGE025
，
Figure 926168DEST_PATH_IMAGE026
The searching point set required by the mother ship on the water surface is obtained;
s14, setting the searching point which is closest to the water surface mother ship in the searching point set as the target point of the current water surface mother ship;
and S15, calculating the distances among all the search points, storing the distances in a matrix, and planning the search point set path by adopting a greedy algorithm by taking the total length of the search path of the surface mother ship as an optimization index.
Step S3 specifically includes the following steps:
s31, determining the grid size of the first layer of grid according to the detection range of the forward-looking sonar, and performing first-time rasterization on an ROV search area;
s32, according to the first layer of grids, the ROV is specified to move from the current position to the adjacent first layer of grids in eight directions, namely east, west, south, north, northeast, southeast, northwest and southwest;
s33, global path planning and updating are carried out on the first layer of grids by utilizing a biological excitation neural network algorithm;
and (3) performing full-area coverage by using a biostimulation neural network algorithm, endowing each first layer of grid with an activity value, and selecting the grid with the maximum activity value and the minimum required rotation angle from 8 surrounding grids to move by the ROV each time.
In step S4, the grid that is rasterized for the first time is rasterized for the second time, and the grid is divided into six states, which are a detected area, an undetected area, a suspected target, an unreachable area, a missed scan area, and a blocked area.
In step S4, when a missing scanning area appears on the second-layer grid, determining the type of the missing scanning area;
the missed-scanning area comprises a common missed-scanning area, an isolated missed-scanning area and a backtracking missed-scanning area;
the common miss-scan area is a miss-scan area which is not detected by a forward-looking sonar within the miss-scan area detection range of the ROV and is not visited by the ROV at the first layer of grids around the common miss-scan area;
the isolated miss-scan area is a miss-scan area which is not detected by a forward-looking sonar within the miss-scan area detection range of the ROV and is in contact with an inaccessible area, or a first layer of grid around the miss-scan area is visited by the ROV;
the backtracking missed-scanning area refers to a part of the common missed-scanning area which is not subjected to timely supplementary detection;
when the missed scanning area is a common missed scanning area, if the area of the common missed scanning area is larger than the threshold value of the common missed scanning area, calculating the scanning path point of the missed scanning area in real time, and adopting
Figure 792493DEST_PATH_IMAGE027
Planning the ROV local track by an algorithm; if the area of the common missing scanning area is smaller than the threshold value of the common missing scanning area, backtracking the missing scanning area when next detecting the nearby grids, and recording the information of the missing scanning area;
when the missed scanning area is an isolated missed scanning area, if the area of the isolated missed scanning area is larger than the threshold of the isolated missed scanning area, or if the area of the isolated missed scanning area is smaller than the threshold of the missed scanning area but the area is unchanged, calculating the scanning path point of the missed scanning area in real time, and adopting
Figure 177206DEST_PATH_IMAGE027
Planning the ROV local track by an algorithm;
and when the missed scanning area is a backtracking missed scanning area, adding the backtracking missed scanning area into a scanning task of the first layer grid where the current ROV is located.
The calculation method of the scanning path points of the missing scanning area comprises the following steps:
the center coordinates of the missed scan area are:
Figure 990442DEST_PATH_IMAGE028
wherein the content of the first and second substances,
Figure 691681DEST_PATH_IMAGE029
in order to be the coordinates of the grid of missing scans,
Figure 728907DEST_PATH_IMAGE030
the total number of the missed-scan grids;
the positions of scanning path points of the missing scanning area are as follows:
Figure 600917DEST_PATH_IMAGE031
wherein the content of the first and second substances,
Figure 14581DEST_PATH_IMAGE032
is the center coordinate of the missed scan area,
Figure 773590DEST_PATH_IMAGE033
to be the current position coordinates of the ROV,
Figure 981717DEST_PATH_IMAGE034
for the farthest detection range of the forward-looking sonar,
Figure 203008DEST_PATH_IMAGE035
the distance between a suspected target and the forward looking sonar;
included angle between ROV heading and current ROV heading after position updating
Figure 826887DEST_PATH_IMAGE036
Comprises the following steps:
Figure 830615DEST_PATH_IMAGE037
wherein the content of the first and second substances,
Figure 334278DEST_PATH_IMAGE038
for the current direction of the ROV, the direction of the ROV,
Figure 993929DEST_PATH_IMAGE039
is the adjusted ROV heading;
if the angle of rotation needed by the ROV to reach the scanning path point of the missing scanning area is larger than the allowable rotation angle threshold value
Figure 749395DEST_PATH_IMAGE040
Then calculate in
Figure 279734DEST_PATH_IMAGE041
Is used as the center of a circle,
Figure 219877DEST_PATH_IMAGE012
the included angle between the current ROV heading on the circle with the radius is
Figure 163562DEST_PATH_IMAGE042
Is detected at a point of detection
Figure 66927DEST_PATH_IMAGE043
And using the point as the scanning path point of the missing scanning area.
In step S4, when the ROV forward-looking sonar finds a suspected target, stopping adopting the biostimulation neural network algorithm to carry out global path planning on the first layer of grid, selecting the next optimal view angle for the forward-looking sonar, calculating the view point, and adopting the view point after generating the view point
Figure 779668DEST_PATH_IMAGE044
Planning a local track of the ROV by using an algorithm, continuously detecting when the ROV goes to the viewpoint, recording a position generated by the next viewpoint and a first-layer grid number if the obstacle detection in the current first-layer grid is finished, planning a first-layer grid path by using the position of the generated viewpoint, and setting the part, which is shielded behind the obstacle in the current first-layer grid, as a shielded area;
when the ROV detects an obstacle to enter a new first layer grid, the first layer grid is completely covered;
when no more viewpoints can be reproduced, it represents that the obstacle has been detected.
And in the detection range of the forward-looking sonar, if the ratio of the number of times that the second-layer grid is detected as a suspected target by the forward-looking sonar to the total number of times of detection exceeds a threshold value, the second-layer grid is marked as the suspected target.
When a common missing scanning area, an isolated missing scanning area, a backtracking missing scanning area and a suspected target appear in the same first-layer grid, the detection priority is as follows:
Figure 890713DEST_PATH_IMAGE045
。
in step S4, if the dynamic update condition of the second-level grid is not triggered, the ROV performs a search task along the planned path, and the current first-level grid is completely covered by the ROV
Figure 321694DEST_PATH_IMAGE046
And (4) carrying out local track planning on the second-layer grid of the ROV by the algorithm, wherein the local track planning end point is the middle point of the boundary of the first-layer grid which needs to go to next.
The principle of the invention is illustrated as follows:
the design aims at the ROV searching and probing field, and is suitable for the ROV provided with a forward looking sonar to execute an unknown submarine target searching task. Because the relative position constraint relation exists between the ROV and the water surface mother ship, in order to realize the cooperative searching operation of the ROV and the water surface mother ship, path points of the water surface mother ship need to be calculated firstly, and a motion path is planned.
Second-tier grid dynamic update condition 1: and judging the type of the missed scanning area when the missed scanning area appears. Second-tier grid dynamic update condition 2: a suspected target is found by an ROV forward-looking sonar and needs to be observed closely.
The relative position constraint relation of the ROV and the mother ship on the water surface is considered in the design, the searching path of the ROV is dynamically updated based on ROV forward-looking sonar detection data, and therefore the forward-looking sonar detection full coverage of an underwater searching area is achieved under the condition that ROV safe operation and searching efficiency are guaranteed.
Example (b):
referring to fig. 1, a method for planning and dynamically updating an underwater target search path by cooperation of an ROV and a mother ship includes the following steps:
s1, dividing the provided search area into a plurality of search sub-areas, covering the whole search area with the search sub-areas, calculating the path points of the mother ship on the water surface, and planning the motion path of the mother ship on the water surface; the method specifically comprises the following steps:
s11, setting the size of a searching subarea of the mother ship on the water surface;
s12, considering the restriction of the relative relation between the ROV and the surface mother ship, setting the ROV to operate in the port safe area of the surface mother ship, and dividing the searching sub-area of the surface mother ship according to the heading angle of the surface mother ship;
the ROV type is an operation-level ROV, the ROV is provided with a fan-shaped area with an imaging range of 120 degrees, a forward-looking sonar with a radius of 0-100 meters and an underwater high-definition camera are detected, and the forward-looking sonar is fixedly installed right in front of the ROV;
the lowering position of the ROV is the port of the surface mother ship, the ROV cannot move near the stern and the ROV is prevented from crossing the ship board to carry out operation, so that the ROV is arranged to carry out operation in a safe area of the port of the surface mother ship in order to reduce the occurrence of the ROV at dangerous positions;
s13, covering the search area with the search sub-area, calculating to obtain all path points
Figure 294329DEST_PATH_IMAGE047
，
Figure 861577DEST_PATH_IMAGE048
，
Figure 146452DEST_PATH_IMAGE049
The schematic diagram of dividing the search area and the search sub-area is shown in fig. 2;
s14, setting the searching point which is closest to the water surface mother ship in the searching point set as the target point of the current water surface mother ship;
s15, calculating distances among all the search points, storing the distances in a matrix, and planning a search point set path by using the total length of the search path of the surface mother ship as an optimization index and adopting a greedy algorithm;
s2, moving the mother ship on the water surface to the path point;
s3, under the condition that the relative relation between the ROV and the water surface mother ship is guaranteed to be normal, rasterizing a current search subarea for the first time, wherein a first layer of grids is an ROV global path planning layer, and performing global path planning and dynamic updating on the first layer of grids by adopting a biological excitation neural network algorithm; the method specifically comprises the following steps:
s31, determining the grid size of the first layer of grid according to the detection range of the forward-looking sonar, and performing first-time rasterization on an ROV search area; in order to ensure that the detection range of the ROV front sonar has certain repetition, in this embodiment, the side length of the first layer of grid is set to be slightly smaller than the detection width value of the front sonar;
s32, according to the first layer of grids, the ROV is specified to move from the current position to the adjacent first layer of grids in eight directions, namely east, west, south, north, northeast, southeast, northwest and southwest;
representing the position of the ROV as a point on a spatial Cartesian coordinate system
Figure 64730DEST_PATH_IMAGE050
The pose of the ROV only considers the heading and the pose of the ROV
Figure 575476DEST_PATH_IMAGE051
It is shown that,
Figure 184181DEST_PATH_IMAGE052
is the ROV heading; when ROV moves in a certain plane for a certain distance
Figure 512394DEST_PATH_IMAGE053
Pose of ROV at next moment
Figure 262176DEST_PATH_IMAGE054
Comprises the following steps:
Figure 888198DEST_PATH_IMAGE055
s33, global path planning and updating are carried out on the first layer of grids by utilizing a biological excitation neural network algorithm;
covering the whole area by using a biological excitation neural network algorithm, endowing each first layer of grid with an activity value, and selecting the grid with the maximum activity value and the minimum required rotation angle from 8 grids around each time by the ROV to move;
considering the effect of the umbilical on the ROV, the steering movement of the ROV should be minimized, so that if necessary, considering the ROV making a smaller angle steering movement, a smaller turning angle grid is assigned a larger activity value:
Figure 430038DEST_PATH_IMAGE056
wherein the content of the first and second substances,
Figure 804518DEST_PATH_IMAGE057
to account for the current position of the ROV as a function of rotational angle to the next position,
Figure 431809DEST_PATH_IMAGE058
is adjacent to the current grid of the ROV
Figure 2467DEST_PATH_IMAGE059
A plurality of grids, each grid being provided with a plurality of grids,
Figure 780238DEST_PATH_IMAGE060
the position of the ROV at a moment,
Figure 184674DEST_PATH_IMAGE061
in order to be the current position of the ROV,
Figure 440206DEST_PATH_IMAGE062
for the next time the ROV is to be located,
Figure 221080DEST_PATH_IMAGE063
calculating the azimuth angle;
next grid required to be reached by ROV
Figure 862146DEST_PATH_IMAGE064
Comprises the following steps:
Figure 703063DEST_PATH_IMAGE065
wherein the content of the first and second substances,
Figure 180312DEST_PATH_IMAGE066
is a normal number which is a positive integer,
Figure 764877DEST_PATH_IMAGE067
is adjacent to the current grid of the ROV
Figure 260449DEST_PATH_IMAGE068
The activity value of each grid;
s4, rasterizing the first layer of grid for the second time, wherein the second layer of grid is an ROV path dynamic updating layer, realizing the ROV local trajectory planning and dynamic updating, and judging whether the ROV triggers the second layer of grid dynamic updating condition in real time until the current first layer of grid searching is completed;
performing second rasterization on the grid subjected to first rasterization, and dividing the grid into six states, namely a detected area (code number: 0), an undetected area (code number: 2), a suspected target (code number: 1), an unreachable area (code number: 3), a missed scanning area (code number: 4) and a shielded area (code number: 5); a schematic diagram of the ROV two-layer grid division is shown in fig. 2;
now, assuming that the ROV has a missed-scanning area due to operator operation or water flow influence, in order to reduce repeated detection of the ROV and improve efficiency, when the second-layer grid has the missed-scanning area, judging the type of the missed-scanning area;
the missed-scanning area comprises a common missed-scanning area, an isolated missed-scanning area and a backtracking missed-scanning area;
the schematic diagram of the ROV for detecting the missing-scan area is shown in FIG. 3, the ROV for detecting the missing-scan area is detected to be behind the chord of the forward-looking sonar sector, the schematic diagram of the isolated missing-scan area and the backtracking missing-scan area is shown in FIG. 4, and the schematic diagram of the common missing-scan area is shown in FIG. 5;
the common miss-scan area is a miss-scan area which is not detected by a forward-looking sonar within the miss-scan area detection range of the ROV and is not visited by the ROV at the first layer of grids around the common miss-scan area;
the isolated miss-scan area is a miss-scan area which is not detected by a forward-looking sonar within the miss-scan area detection range of the ROV and is in contact with an inaccessible area, or a first layer of grid around the miss-scan area is visited by the ROV;
the backtracking missed-scanning area refers to a part of the common missed-scanning area which is not subjected to timely supplementary detection;
when the missed scanning area is a common missed scanning area, if the area of the common missed scanning area is larger than the threshold value of the common missed scanning area, the missed scanning area is too large, path points need to be dynamically updated, the missed scanning area is complementarily detected, the scanning path points of the missed scanning area are calculated in real time, and the method adopts
Figure 272268DEST_PATH_IMAGE069
The algorithm plans the ROV local track to ensure that a forward looking sonar can detect the miss-scanning area after the ROV path is updated; if the area of the common missed-scanning area is smaller than the threshold value of the common missed-scanning area, the missed-scanning area is found, the missed-scanning area is traced back when the adjacent grids are detected next time, and the information of the missed-scanning area is recorded;
when the missed scanning area is an isolated missed scanning area, it is indicated that the ROV needs to move for a longer distance subsequently if the missed scanning area is traced back, in order to improve the ROV searching efficiency, if the area of the isolated missed scanning area is larger than the threshold of the isolated missed scanning area, or if the area of the isolated missed scanning area is smaller than the threshold of the missed scanning area but the area is unchanged, the missed scanning area should be immediately detected in a supplementary mode, the scanning path point of the missed scanning area is calculated in real time, and the method adopts the following steps of
Figure 299130DEST_PATH_IMAGE069
The algorithm plans the ROV local track to ensure that a forward looking sonar can detect the miss-scanned area after the ROV path is updated;
when the missed scanning area is a backtracking missed scanning area, adding the backtracking missed scanning area into a scanning task of a first layer grid where the current ROV is located;
the calculation method of the scanning path points of the missing scanning area comprises the following steps:
the center coordinates of the missed scan area are:
Figure 562752DEST_PATH_IMAGE070
wherein the content of the first and second substances,
Figure 788197DEST_PATH_IMAGE071
in order to be the coordinates of the grid of missing scans,
Figure 95550DEST_PATH_IMAGE072
the total number of the missed-scan grids;
the positions of scanning path points of the missing scanning area are as follows:
Figure 672025DEST_PATH_IMAGE073
wherein the content of the first and second substances,
Figure 473759DEST_PATH_IMAGE074
is the center coordinate of the missed scan area,
Figure 553710DEST_PATH_IMAGE075
to be the current position coordinates of the ROV,
Figure 300474DEST_PATH_IMAGE076
for the farthest detection range of the forward-looking sonar,
Figure 364245DEST_PATH_IMAGE077
the distance between a suspected target and the forward looking sonar;
included angle between ROV heading and current ROV heading after position updating
Figure 704091DEST_PATH_IMAGE078
Comprises the following steps:
Figure 904128DEST_PATH_IMAGE079
wherein the content of the first and second substances,
Figure 818863DEST_PATH_IMAGE080
for the current direction of the ROV, the direction of the ROV,
Figure 838772DEST_PATH_IMAGE081
is the adjusted ROV heading;
if the ROV reaches the missed-sweep areaThe angle of the scanning path point needed to be rotated is larger than the allowable rotation angle threshold value
Figure 247887DEST_PATH_IMAGE082
Then calculate in
Figure 302431DEST_PATH_IMAGE083
Is used as the center of a circle,
Figure 122488DEST_PATH_IMAGE084
the included angle between the current ROV heading on the circle with the radius is
Figure 895272DEST_PATH_IMAGE085
Is detected at a point of detection
Figure 170396DEST_PATH_IMAGE086
And using the point as a scanning path point of the missing scanning area;
two counters are adopted to store the number of times each grid is detected by the forward sonar and the number of times each grid is detected to be empty; within the detection range of the forward-looking sonar, the ratio of the number of times of the second-layer grid detected as the suspected target by the forward-looking sonar to the total number of times of detection
Figure 954812DEST_PATH_IMAGE087
Exceeding the threshold, it is marked as a suspected target:
Figure 86716DEST_PATH_IMAGE088
；
Figure 205851DEST_PATH_IMAGE089
；
when the ROV forward-looking sonar finds a suspected target, stopping adopting a biological excitation neural network algorithm to carry out global path planning on the first layer of grid, selecting the next optimal view angle for the forward-looking sonar, calculating the view point, and adopting the view point after generating the view point
Figure 81403DEST_PATH_IMAGE090
Planning a local track of the ROV by an algorithm, continuously detecting when the ROV goes to the viewpoint, recording a position generated by the next viewpoint and a first layer grid number if the detection of the obstacle in the current first layer grid is finished, planning a first layer grid path by the position of the generated viewpoint, and setting the part shielded behind the obstacle in the current first layer grid as a shielded area (code: 5);
calculating boundary grids of the shielded grid and the detected grid, calculating the gravity centers of the detected grids around the boundary grids, determining the surface normal direction by the connection line of the gravity centers of the boundary grids and the gravity centers of the detected grids around the boundary grids, and keeping a distance on the surface normal
Figure 985905DEST_PATH_IMAGE091
Generating a viewpoint, which is a next target point that needs to be reached by the ROV in order to detect the whole suspected target, and generating a schematic diagram of the suspected target detection viewpoint as shown in fig. 6;
the ROV may cross a plurality of first-layer grids when detecting the obstacle, so when the ROV detects the obstacle to enter a new first-layer grid, the first-layer grid is completely covered at the same time to ensure the detection efficiency;
when no more viewpoints can be reproduced, the obstacle is detected;
when a common missing scanning area, an isolated missing scanning area, a backtracking missing scanning area and a suspected target appear in the same first-layer grid, the detection priority is as follows:
Figure 288710DEST_PATH_IMAGE092
；
if the dynamic updating condition of the second layer grid is not triggered, the ROV carries out a searching task along the planned path, the current first layer grid is completely covered, and the method adopts
Figure 163650DEST_PATH_IMAGE093
The algorithm carries out local track planning on the grid of the second layer of the ROV, and the local track planning end point is the first to go to nextA midpoint of a layer of the grid boundary;
s5, if the current first-layer grid searching is finished, judging whether the current searching subarea is finished; if the search of the current search subarea is finished, returning to the step S2, and updating the path points of the mother ship on the water surface; if the current search sub-area is not completely searched, returning to step S3, and the ROV entering a new first-layer grid search;
if the current first-layer grid searching is not finished, whether a target is found is judged; if no target is found, returning to step S4 to perform the second layer raster search path planning and dynamic update; if the target is found, the search task is ended.

Claims (7)

1. A ROV and mother ship cooperative underwater target search path planning and dynamic updating method is characterized by comprising the following steps:
s1, dividing the provided search area into a plurality of search sub-areas, covering the whole search area with the search sub-areas, calculating the path points of the mother ship on the water surface, and planning the motion path of the mother ship on the water surface;
s2, moving the mother ship on the water surface to the path point;
s3, under the condition that the relative relation between the ROV and the water surface mother ship is guaranteed to be normal, rasterizing a current search subarea for the first time, wherein a first layer of grids is an ROV global path planning layer, and performing global path planning and dynamic updating on the first layer of grids by adopting a biological excitation neural network algorithm;
s4, rasterizing the first layer of grid for the second time, wherein the second layer of grid is an ROV path dynamic updating layer, realizing the ROV local trajectory planning and dynamic updating, and judging whether the ROV triggers the second layer of grid dynamic updating condition in real time until the current first layer of grid searching is completed;
performing second rasterization on the grid subjected to the first rasterization, and dividing the grid into six states, namely a detected area, an undetected area, a suspected target, an unreachable area, a missing scanning area and a shielded area;
when a missed scanning area appears on the second layer of grid, judging the type of the missed scanning area;
the missed-scanning area comprises a common missed-scanning area, an isolated missed-scanning area and a backtracking missed-scanning area;
the common miss-scan area is a miss-scan area which is not detected by a forward-looking sonar within the miss-scan area detection range of the ROV and is not visited by the ROV at the first layer of grids around the common miss-scan area;
the isolated miss-scan area is a miss-scan area which is not detected by a forward-looking sonar within the miss-scan area detection range of the ROV and is in contact with an inaccessible area, or a first layer of grid around the miss-scan area is visited by the ROV;
the backtracking missed-scanning area refers to a part of the common missed-scanning area which is not subjected to timely supplementary detection;
when the missed scanning area is a common missed scanning area, if the area of the common missed scanning area is larger than the threshold value of the common missed scanning area, calculating scanning path points of the missed scanning area in real time, and planning the ROV local track by adopting a Theta algorithm; if the area of the common missing scanning area is smaller than the threshold value of the common missing scanning area, backtracking the missing scanning area when next detecting the nearby grids, and recording the information of the missing scanning area;
when the missed-scanning area is an isolated missed-scanning area, if the area of the isolated missed-scanning area is larger than the threshold of the isolated missed-scanning area, or if the area of the isolated missed-scanning area is smaller than the threshold of the missed-scanning area but the area is unchanged, calculating scanning path points of the missed-scanning area in real time, and planning the ROV local track by adopting a Theta algorithm;
when the missed scanning area is a backtracking missed scanning area, adding the backtracking missed scanning area into a scanning task of a first layer grid where the current ROV is located;
when finding a suspected target, an ROV front sonar stops adopting a biostimulation neural network algorithm to carry out global path planning on a first layer grid, selects a next optimal view angle for the front sonar, calculates a viewpoint, adopts a Theta algorithm to plan a ROV local track after generating the viewpoint, the ROV goes to the viewpoint to continue detecting, records a position generated by the viewpoint and a first layer grid number after the obstacle detection in the current first layer grid is finished, plans a first layer grid path according to the position of the generated viewpoint, and sets the shielded part behind the obstacle in the current first layer grid as a shielded area;
when the ROV detects an obstacle to enter a new first layer grid, the first layer grid is completely covered;
when no more viewpoints can be reproduced, the obstacle is detected;
s5, if the current first-layer grid searching is finished, judging whether the current searching subarea is finished; if the search of the current search subarea is finished, returning to the step S2, and updating the path points of the mother ship on the water surface; if the current search sub-area is not completely searched, returning to step S3, and the ROV entering a new first-layer grid search;
if the current first-layer grid searching is not finished, whether a target is found is judged; if no target is found, returning to step S4 to perform the second layer raster search path planning and dynamic update; if the target is found, the search task is ended.
2. The method for planning and dynamically updating the search path of the underwater target by cooperation of the ROV and the mother ship as claimed in claim 1, wherein: step S1 specifically includes the following steps:
s11, setting the size of a searching subarea of the mother ship on the water surface;
s12, considering the restriction of the relative relation between the ROV and the surface mother ship, setting the ROV to operate in the port safe area of the surface mother ship, and dividing the searching sub-area of the surface mother ship according to the heading angle of the surface mother ship;
s13, covering the search area with the search sub-area, calculating to obtain all path points Oi，i＝1，2，3......，OiThe searching point set required by the mother ship on the water surface is obtained;
s14, setting the searching point which is closest to the water surface mother ship in the searching point set as the target point of the current water surface mother ship;
and S15, calculating the distances among all the search points, storing the distances in a matrix, and planning the search point set path by adopting a greedy algorithm by taking the total length of the search path of the surface mother ship as an optimization index.
3. The method for planning and dynamically updating the search path of the underwater target by cooperation of the ROV and the mother ship as claimed in claim 1, wherein: step S3 specifically includes the following steps:
s31, determining the grid size of the first layer of grid according to the detection range of the forward-looking sonar, and performing first-time rasterization on an ROV search area;
s32, according to the first layer of grids, the ROV is specified to move from the current position to the adjacent first layer of grids in eight directions, namely east, west, south, north, northeast, southeast, northwest and southwest;
s33, global path planning and updating are carried out on the first layer of grids by utilizing a biological excitation neural network algorithm;
and (3) performing full-area coverage by using a biostimulation neural network algorithm, endowing each first layer of grid with an activity value, and selecting the grid with the maximum activity value and the minimum required rotation angle from 8 surrounding grids to move by the ROV each time.
4. The method for planning and dynamically updating the search path of the underwater target by cooperation of the ROV and the mother ship as claimed in claim 1, wherein: the calculation method of the scanning path points of the missing scanning area comprises the following steps:
the center coordinates of the missed scan area are:
Figure FDA0003322549290000031
wherein x isi，yiThe coordinates of the grid are missed, and n is the total number of the missed grids;
the positions of scanning path points of the missing scanning area are as follows:
Figure FDA0003322549290000032
Figure FDA0003322549290000033
wherein, Ox，OyIs the center coordinate of the missed scan area, xc，ycThe current position coordinate of the ROV is adopted, D is the farthest detection range of the forward-looking sonar, and D-D is the distance between the suspected target and the forward-looking sonar;
and the included angle phi between the ROV heading after the position is updated and the current ROV heading is as follows:
Figure FDA0003322549290000034
wherein, theta1For the current ROV heading, theta2Is the adjusted ROV heading;
if the angle of rotation needed by the ROV to reach the scanning path point of the missing scanning area is larger than the allowable rotation angle threshold phiallowThen calculate as (O)x，Oy) The included angle phi between the current ROV heading and the circle with the circle center as D-D as radiusallowIs detected at a detection point P1And using the point as the scanning path point of the missing scanning area.
5. The method for planning and dynamically updating the search path of the underwater target by cooperation of the ROV and the mother ship as claimed in claim 1, wherein: and in the detection range of the forward-looking sonar, if the ratio of the number of times that the second-layer grid is detected as a suspected target by the forward-looking sonar to the total number of times of detection exceeds a threshold value, the second-layer grid is marked as the suspected target.
6. The method for planning and dynamically updating the search path of the underwater target by cooperation of the ROV and the mother ship as claimed in claim 1, wherein: when a common missing scanning area, an isolated missing scanning area, a backtracking missing scanning area and a suspected target appear in the same first-layer grid, the detection priority is as follows:
Lsuspected target＞LIsolated missed scan area＝LBacktracking missed-scanning area＞LCommon missed area。
7. The method for planning and dynamically updating the search path of the underwater target by cooperation of the ROV and the mother ship as claimed in claim 1, wherein: in step S4, if the dynamic update condition of the second-layer grid is not triggered, the ROV performs a search task along the planned path, the current first-layer grid is completely covered, and performs local trajectory planning on the second-layer grid of the ROV by using Theta algorithm, where the local trajectory planning end point is the middle point of the next first-layer grid boundary to be moved to.
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