【摘要】 针对传统蚁群算法优化出的路径“距离最短但能耗并不是最低”的问题，通过对水下航行器的浮力调节系统、俯仰调节系统和定深推进系统工作过程消耗的能量进行分析，并对蚁群算法增加能耗约束，使得水下航行器在复杂海洋环境中的搜索路径满足能耗水平最低、路径最短的需求。通过建立栅格环境地图，模拟并分析了路径最短和能耗最低两种优化方法下的结果差异。仿真结果表明：尽管能耗约束下的路径长度和拐点个数都略高于最短路径约束，但能耗水平降低了22%～24%,更利于水下航行器航行。其中，浮力调节系统在能量消耗过程中占比较大，因此优化浮力调节系统为水面回路和水下回路双回路系统，避免初始单泵设计方案在不同深度下的打油效率点不匹配问题。试验表明：水面、水下双回路的浮力调节系统能耗水平和最大电流得到了显著降低，优化后的浮力调节系统能耗降幅63%～65.2%,降低水下航行器内部电路组件损坏的风险。更多还原

【Abstract】 The paths optimized by the traditional ant colony algorithm have the problem that “the distance is the shortest but the energy consumption is not the lowest.” In order to ensure that the search path of the underwater vehicle in the complex marine environment meets the requirements of the lowest energy consumption and the shortest path, it is necessary to analyze the energy consumed by the buoyancy regulation system, pitch regulation system and depth-stabilized propulsion system of the underwater vehicle during their operation, and add energy consumption constraints to the ant colony algorithm. By establishing a grid-based environment map, we simulate and analyze the differences in results under the two optimization methods. The simulation results show that although the path length and the number of turning points under the energy consumption constraint are slightly higher than those under the shortest path constraint, but the energy consumption level is decreased by 22% to 24%, which is more conducive to the navigation of underwater vehicles. Since the buoyancy regulation system accounts for a large proportion of energy consumption, it is necessary to optimize the buoyancy regulation system into a dual-loop system consisting of the surface circuit and the underwater circuit, in order to avoid the problem of inconsistent oiling efficiency points of the initial single-pump design at different depths. The experiment shows that the energy consumption level and the maximum current of the dual-circuit buoyancy regulation system on both the surface and underwater are significantly improved, and the energy consumption of the optimized buoyancy regulation system is decreased by 63% to 65.2%, which reduces the risk of damage to the internal circuit components of the underwater vehicle.更多还原