基于水下声场信息的三维航路规划研究

针对目前大规模水下复杂战场环境中的航路规划困难的问题。设计了一种以距离值传递法为基础的航路规划方法,该方法以水下声场为主要威胁源,运用三维抛物方程(PE)模型计算水下声场数据,并以此建立三维水下战场环境。利用限制线性八叉树的方法对数据场进行数据分割,从而达到对搜索空间的压缩,最后通过距离值传递法搜索得到最佳航路。仿真结果表明该方法较快的实现了三维声场环境下的不同起始点、多目标寻径,满足一定条件下航路规划要求。

Study on 3D Path Planning Base on Underwater Acoustic Information

Aiming at the problem of path planning in complicated underwater battlefield, this paper sets up a method based on Distant Value Propagation(DVP)to do path planning for submarine. This method, considering the main threat comes from underwater acoustic energy field, uses 3D Parabolic Equation(PE) to calculate the data from there. It builds up a 3D environment of underwater battlefield, cuts the field into parts by Limit Linear Octrees to limit the searching range, then, obtains the best path planning with DVP. The simulation shows that this method can achieve different start position and mult-target path planning in the 3D acoustic energy field, and has a good value for application.