防务技术2024，Vol.32Issue(2) ：285-296.DOI:10.1016/j.dt.2023.04.012

Improving path planning efficiency for underwater gravity-aided navigation based on a new depth sorting fast search algorithm

Xiaocong Zhou Wei Zheng Zhaowei Li Panlong Wu Yongjin Sun
防务技术2024，Vol.32Issue(2) ：285-296.DOI:10.1016/j.dt.2023.04.012
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Improving path planning efficiency for underwater gravity-aided navigation based on a new depth sorting fast search algorithm

Xiaocong Zhou 1Wei Zheng 2Zhaowei Li 3Panlong Wu 4Yongjin Sun5
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作者信息

  • 1. School of Automation,Nanjing University of Science and Technology,Nanjing,210094,China;China Academy of Aerospace Science and Innovation,Beijing,100176,China;Qian Xuesen Laboratory of Space Technology,China Academy of Space Technology,Beijing,100094,China
  • 2. China Academy of Aerospace Science and Innovation,Beijing,100176,China;Qian Xuesen Laboratory of Space Technology,China Academy of Space Technology,Beijing,100094,China
  • 3. Qian Xuesen Laboratory of Space Technology,China Academy of Space Technology,Beijing,100094,China
  • 4. School of Automation,Nanjing University of Science and Technology,Nanjing,210094,China
  • 5. China Academy of Aerospace Science and Innovation,Beijing,100176,China;Qian Xuesen Laboratory of Space Technology,China Academy of Space Technology,Beijing,100094,China;School of Electronics and Information Engineering,Harbin Institute of Technology,Harbin,150001,China
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Abstract

This study focuses on the improvement of path planning efficiency for underwater gravity-aided navi-gation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapidly-exploring Random Trees*(Q-RRT*)algorithm.A cost inequality relationship be-tween an ancestor and its descendants was derived,and the ancestors were filtered accordingly.Sec-ondly,the underwater gravity-aided navigation path planning system was designed based on the DSFS algorithm,taking into account the fitness,safety,and asymptotic optimality of the routes,according to the gravity suitability distribution of the navigation space.Finally,experimental comparisons of the computing performance of the ChooseParent procedure,the Rewire procedure,and the combination of the two procedures for Q-RRT*and DSFS were conducted under the same planning environment and parameter conditions,respectively.The results showed that the computational efficiency of the DSFS algorithm was improved by about 1.2 times compared with the Q-RRT*algorithm while ensuring correct computational results.

Key words

Depth Sorting Fast Search algorithm/Underwater gravity-aided navigation/Path planning efficiency/Quick Rapidly-exploring Random Trees*(Q-RRT*)

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基金项目

National Natural Science Foundation of China(42274119)

Liaoning Revitalization Talents Program(XLYC2002082)

National Key Research and Development Plan Key Special Projects of Science and Technology Military Civil Integration(2022YFF1400500)

Key Project of Science and Technology Commission of the Central Military Commission()

出版年

2024
防务技术
中国兵工学会

防务技术

CSTPCD
影响因子：0.358
ISSN：2214-9147
参考文献量43
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