UUV mission re-planning based on threat assessment of uncertain events
The mission planning of unmanned underwater vehicles (UUV) is directly related to the efficiency of underwater operations.Due to the complex underwater environment and frequent uncertain events, it is sometimes difficult for UUV to complete the mission according to the initial plan.Aiming at the pro...
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| Main Authors: | , |
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| Format: | Article |
| Language: | zho |
| Published: |
POSTS&TELECOM PRESS Co., LTD
2022-12-01
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| Series: | 智能科学与技术学报 |
| Subjects: | |
| Online Access: | http://www.cjist.com.cn/thesisDetails#10.11959/j.issn.2096-6652.2022049 |
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| Summary: | The mission planning of unmanned underwater vehicles (UUV) is directly related to the efficiency of underwater operations.Due to the complex underwater environment and frequent uncertain events, it is sometimes difficult for UUV to complete the mission according to the initial plan.Aiming at the problem of the UUV mission planning, a mission re-planning strategy based on the threat assessment of uncertain events was proposed.Firstly, the UUV performed initial mission planning according to the distribution of mission points.The self-organizing map algorithm was used to plan the time sequence of accessing multi-mission points and the shortest path for the UUV to visit the mission points.Then, the types of uncertain events were determined in the process of executing missions by the UUV and converted into the form of a Bayesian network.Finally, the Bayesian network was used to evaluate the threat degree of uncertain events.If the threat degree was greater than the threshold, the UUV performed mission re-planning.Otherwise, the UUV continued to perform the mission according to the initial plan.The simulation results of mission planning in a variety of uncertain event scenarios showed that the proposed algorithm could ensure the safety of UUV operations and improve the mission completion rate. |
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| ISSN: | 2096-6652 |