Navigating safely in complex marine environments is a challenge for submarines because proper path planning underwater is difficult. This paper decomposes the submarine path planning problem into global path planning and local dynamic obstacle avoidance. Firstly, an artificial potential field ant colony algorithm (APF-ACO) based on an improved artificial potential field algorithm and improved ant colony algorithm is proposed to solve the problem of submarine underwater global path planning. Compared with the Optimized ACO algorithm proposed based on a similar background, the APF-ACO algorithm has a faster convergence speed and better path planning results. Using an inflection point optimization algorithm greatly reduces the number and length of inflection points in the path. Using the Clothoid curve fitting algorithm to optimize the path results, a smoother and more stable path result is obtained. In addition, this paper uses a three-dimensional dynamic obstacle avoidance algorithm based on the velocity obstacle method. The experimental results show that the algorithm can help submarines to identify threatening dynamic obstacles and avoid collisions effectively. Finally, we experimented with the algorithm in the submarine underwater semi-physical simulation system, and the experimental results verified the effectiveness of the algorithm.
With the constant deepening of research on marine environment simulation and information expression, there are higher and higher requirements for the sense of the reality of ocean data visualization results and the real-time interaction in the visualization process. Aiming at the challenges of 3D interactive key technology and GPU-based visualization algorithm technology, we developed a visualization system for large-scale 3D marine environmental data. The system realizes submarine terrain rendering, contour line visualization, isosurface visualization, section visualization, volume visualization and flow field visualization. In order to manage and express the data in the system, we developed a data management module, which can effectively integrate a large number of marine environmental data and manage them effectively. We developed a series of data analysis functions for the system, such as point query and line query, local analysis and multi-screen collaboration, etc. These functions can effectively improve the data analysis efficiency of users and meet the data analysis needs in multiple scenarios. The marine environmental data visualization system developed in this paper can efficiently and intuitively simulate and display the nature and changing process of marine water environmental factors.
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