Application of Dijkstra Algorithm in Path Planning for Geomagnetic Navigation

2020 IEEE 11th Sensor Array and Multichannel Signal Processing Workshop (SAM) Pub Date : 2020-06-01 DOI:10.1109/SAM48682.2020.9104382

Qingya Liu, Hanchen Xu, Lihui Wang, Jin Chen, Yaoming Li, Lizhang Xu

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引用次数: 4

Abstract

Path planning is one of the key technologies to realize the hidden navigation of underwater vehicles during long-haul. Path planning efficiency and accuracy are at the core of submarine track planning. Combining the navigation task with the geomagnetic map adaptability, the optimal path between the starting point and the target point is searched in the target space. The underwater geomagnetic navigation path planning model is established, and the principle and implementation method of Dijkstra algorithm are analyzed. An underwater geomagnetic navigation path planning model is established, and the Dijkstra algorithm is used for underwater geomagnetic navigation path planning. Combining different local windows in the adaptation area, the path planning calculation time and track cost are optimized. The simulation analyzes the influence of different local windows on the path planning in the adaptation area. The experiment results demonstrate that the Dijkstra algorithm can effectively find the optimal path that satisfies the constraints.

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Dijkstra算法在地磁导航路径规划中的应用

路径规划是实现水下航行器长距离隐身导航的关键技术之一。路径规划的效率和准确性是潜艇航迹规划的核心。将导航任务与地磁图适应性相结合，在目标空间中搜索起始点与目标点之间的最优路径。建立了水下地磁导航路径规划模型，分析了Dijkstra算法的原理和实现方法。建立了水下地磁导航路径规划模型，采用Dijkstra算法进行水下地磁导航路径规划。结合适应区域内不同的局部窗口，优化路径规划计算时间和轨迹代价。仿真分析了不同的局部窗口对自适应区域路径规划的影响。实验结果表明，Dijkstra算法能够有效地找到满足约束条件的最优路径。

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2020 IEEE 11th Sensor Array and Multichannel Signal Processing Workshop (SAM)

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