Research of Bio-Inspired Geomagnetic Navigation for AUV Based on Evolutionary Gradient Search

基于进化梯度搜索的AUV地磁仿生导航研究

School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China

Received: 10 September 2018

Abstract

At present, bio-inspired geomagnetic navigation is mostly based on evolutionary strategy, which requires long navigation time and low efficiency. To solve this problem, a bio-inspired geomagnetic navigation method for AUV based on evolutionary gradient search is proposed. Combining the bionic evolutionary search algorithm with the classical gradient algorithm to search the function extremum can not only ensure the global optimization of the search, but also have fast convergence, which can improve the efficiency of bio-inspired geomagnetic navigation. The simulation results show that this method does not need prior geomagnetic information and can complete navigation tasks according to the geomagnetic trend. Comparing with the evolutionary search strategy, the effectiveness and superiority of the evolutionary gradient search strategy are verified.

摘要

目前地磁仿生导航大多是基于进化策略的搜索导航，导航耗时长、效率低。针对这一问题，提出一种基于进化梯度搜索的AUV地磁仿生导航方法。将仿生的进化搜索算法与经典梯度算法结合起来搜索函数极值，不仅可以保证搜索具有全局最优性，而且具有快速的收敛性，可以提高地磁仿生导航的效率。仿真结果表明，该方法不需要先验地磁信息，可以依据地磁趋势完成导航任务。通过与传统仿生导航的进化搜索策略对比，验证了进化梯度搜索策略的有效性和优越性。