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

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

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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.

Depth Sorting Fast Search algorithmUnderwater gravity-aided navigationPath planning efficiencyQuick Rapidly-exploring Random Trees*(Q-RRT*)

Xiaocong Zhou、Wei Zheng、Zhaowei Li、Panlong Wu、Yongjin Sun

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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

School of Electronics and Information Engineering,Harbin Institute of Technology,Harbin,150001,China

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the National Natural Science Foundation of Chinathe Liaoning Revitalization Talents ProgramNational Key Research and Development Plan Key Special Projects of Science and Technology Military Civil Integrationthe Key Project of Science and Technology Commission of the Central Military Commission

42274119XLYC20020822022YFF1400500

2024

10.1016/j.dt.2023.04.012

防务技术
中国兵工学会

防务技术

CSTPCD
影响因子：0.358
ISSN：2214-9147
年,卷(期)：2024.32(2)
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