Multi-Autonomous Underwater Vehicle Full-Coverage Path-Planning Algorithm Based on Intuitive Fuzzy Decision-Making
Aiming at the difficulty of realizing full-coverage path planning in a multi-AUV collaborative search, a multi-AUV full-coverage path-planning algorithm based on intuitionistic fuzzy decision-making is proposed. First, the state space model of the search environment was constructed using the raster...
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Veröffentlicht in: | Journal of marine science and engineering 2024-08, Vol.12 (8), p.1276 |
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Format: | Artikel |
Sprache: | eng |
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Zusammenfassung: | Aiming at the difficulty of realizing full-coverage path planning in a multi-AUV collaborative search, a multi-AUV full-coverage path-planning algorithm based on intuitionistic fuzzy decision-making is proposed. First, the state space model of the search environment was constructed using the raster method to provide accurate environment change data for the AUV. Second, the full-coverage path-planning algorithm for the multi-AUV collaborative search was constructed using intuition-based fuzzy decision-making, and more uncertain underwater information was modeled using the intuition-based fuzzy decision algorithm. A priority strategy was used to avoid obstacles in the search area. Finally, the simulation experiment verified the proposed algorithm. The results demonstrate that the proposed algorithm can effectively realize full-coverage path planning of the search area, and the priority strategy can effectively reduce the generation of repeated paths. |
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ISSN: | 2077-1312 2077-1312 |
DOI: | 10.3390/jmse12081276 |