海洋能驱动航行器的能源最优航迹规划研究

无人水面航行器在航行过程中受到尺寸限制,只能携带有限的能源,而海洋中蕴含大量的能源,如果无人水面航行器在航行过程中能利用广泛分布的海洋能源,那么其续航能力将会显著提升.研究一种海洋能驱动航行器的能源最优航迹规划方法,使海洋能驱动航行器在航行过程中尽可能少地消耗能源,并尽可能多地利用海洋能.首先,选取我国南海部分海域作为...

Optimal Energy Path Planning for Oceanic Energy-driven Vehicle

Unmanned surface vehicle(USV)is limited in size during navigation and only can carry a little energy,and the ocean contains a lot of natural energy.If the USV can use the oceanic energy in the ocean during navigation,its endurance will be greatly improved.This thesis studies an optimal energy path planning method for oceanic energy-driven vehicle,so that oceanic energy-driven vehicle consume as little energy as possible during navigation and use oceanic energy in the ocean as much as possible.The thesis first selected part of the South Sea as the research object to construct a grid map environment model.Secondly,in view of the energy consumption problem in the optimal energy path planning of oceanic energy-driven vehicle,the ocean current consumption model were established,and the A^*Algorithm Considering Current Consumption(C-A^*)is adopted.Then,in view of the ocean energy utilization problem in the energy optimal trajectory planning of ocean energy-driven aircraft,a wind energy capture model is established to study the energy optimal A^*algorithm(N-A^*)considering ocean current consumption and ocean energy capture.Finally,the simulation software is used to verify the effect of the algorithm,and the feasibility and effectiveness of the algorithm are verified by comparing the optimal energy effects of the traditional A^*algorithm,C-A^*and N-A^*under different environmental conditions.