ROUTE SETTING METHOD OF UNDERWATER SAILING BODY, OPTIMUM CONTROL METHOD OF UNDERWATER SAILING BODY USING THE SAME, UNDERWATER SAILING BODY, AND ROUTE SETTING METHOD OF MOVING BODY

摘要

PROBLEM TO BE SOLVED: To set an optimum underwater navigation route for an underwater sailing body, and execute navigation control.SOLUTION: A route setting method of an underwater sailing body includes an underwater navigation point input step S12 for inputting an underwater navigation point of an underwater sailing body, a target value setting step S14 for setting an initial target value in the underwater navigation point, an underwater navigation simulation step S22 for simulating an underwater navigation route of the underwater sailing body for the target value based on a motion model of the underwater sailing body using data on the topography of a water bottom and the target value, and a target value update step S28 for updating the target value based on an evaluation function calculated based on the underwater navigation route acquired by the simulation in the underwater navigation simulation step S22. An optimum target value is derived by repeating the underwater navigation simulation step S22 and the target value update step S28.SELECTED DRAWING: Figure 3