Coordinated path planning for an unmanned aerial-aquatic vehicle (UAAV) and an autonomous underwater vehicle (AUV) in an underwater target strike mission

摘要

Unmanned system has become more and more popular as it can adapt to diverse environments and has prospective applications. Especially, the coordination among heterogeneous vehicles is capable of completing complicated tasks, which is often beyond the ability of homogeneous vehicles. In this paper, the underwater target strike mission is concentrated, and the mission is completed by the coordination between a UAAV and an AUV. UAAV and AUV are deployed in this mission because UAAV has strong search ability in air and can communicate with AUV directly after it dives into water. Firstly, to decompose the problem, the mission is divided into two phases, i.e., single flying of UAAV and underwater coordination between UAAV and AUV. In the coordinated path planning model, the motion of vehicles, the constraints in different media and the optimization index in each phase are all formulated into mathematical forms. Based on the particle swarm optimization (PSO) algorithm, the collocation points are used to determine the locations of control variables. Those points can reduce the computation load and improve the solution quality, and they are distributed by height and moment according to the forms of constraints in each phase. Besides, the strategy of addressing infeasible solutions is generated to guarantee the normal operation of PSO-based algorithm. Simulation results demonstrate that the proposed two-phase coordinated path planning method can generate coordinated paths, and the obtained results is very close to the optimal solution in theory. Compared to the whole method, the two-phase method can better deal with the complicated constraints in each phase.