基于大数据分析的水下航行器运行轨迹规划模型研究
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摘要
传统水下航行器轨迹规划计算处理过程中,受到自身算法逻辑参数影响,建模数据计算涵盖不够严谨,无法对小概率误差轨迹进行引入分析,从而导致航行器预判轨迹出现偏离。针对问题产生原因,提出基于大数据分析的水下航行器运行轨迹规划模型研究。首先,对传统模型计算算法进行修正,引入MFT样条差值规划算法对构建模型轨迹数据进行优选规划计算;接着引入迭代多项轨迹构造算法,对规划模型数据进行轨迹模型构建计算;最后,通过对构建模型进行仿真数据测试。通过与传统模型的对比证明提出构建的轨迹模型能够解决传统模型存在的问题与不足。
In the traditional underwater vehicle trajectory planning calculation process, due to the influence of logic parameters of its own algorithm, the calculation of modeling data is not rigorous enough to introduce and analyze small probability error trajectory, which leads to the deviation of the predicted trajectory of the vehicle. Aiming at the causes of the problem, a trajectory planning model of underwater vehicle based on large data analysis is proposed. Firstly, the traditional model calculation algorithm is revised, and MFT spline difference programming algorithm is introduced to optimize the trajectory data of the model. Then the iteration multi-trajectory construction algorithm is introduced to construct the trajectory model of the planning model data. Finally, the simulation data of the model is tested. Compared with the traditional model, it is proved that the trajectory model can solve the problems and shortcomings of the traditional model.
In the traditional underwater vehicle trajectory planning calculation process, due to the influence of logic parameters of its own algorithm, the calculation of modeling data is not rigorous enough to introduce and analyze small probability error trajectory, which leads to the deviation of the predicted trajectory of the vehicle. Aiming at the causes of the problem, a trajectory planning model of underwater vehicle based on large data analysis is proposed. Firstly, the traditional model calculation algorithm is revised, and MFT spline difference programming algorithm is introduced to optimize the trajectory data of the model. Then the iteration multi-trajectory construction algorithm is introduced to construct the trajectory model of the planning model data. Finally, the simulation data of the model is tested. Compared with the traditional model, it is proved that the trajectory model can solve the problems and shortcomings of the traditional model.
引文
[1]游峰,谷广.面向无人驾驶的车辆协同换道轨迹规划[J].科学技术与工程, 2018, 18(15):155–161.
[2]彭海军,施海洋,王昕炜,等.考虑区间不确定性的双摆吊车运动轨迹规划[J].机械工程学报, 2019, 55(2):204–213.
[3]鹿霖,谢树新. ROS环境下的机器人仿真模型构建方法研究[J].现代电子技术, 2018, 41(7):102–105+110.
[2]彭海军,施海洋,王昕炜,等.考虑区间不确定性的双摆吊车运动轨迹规划[J].机械工程学报, 2019, 55(2):204–213.
[3]鹿霖,谢树新. ROS环境下的机器人仿真模型构建方法研究[J].现代电子技术, 2018, 41(7):102–105+110.