An Environment Modeling Method in Automatic Layout of UUV Piping

In order to solve the problems of the large computation, the narrow space and the complicated piping constraints in a whole Unmanned Underwater Vehicle (UUV), a grid-based environment modeling method for piping layout of all-UUV space was proposed. Firstly, considering the characteristics of UUV piping distribution along the bulkhead, the method of coordinate transformation is adopted to realize dimensionality reduction. Then, the adaptive grid method based on Statistical Information Grid clustering algorithm is used to generate different grid granularity for different obstacles, so as to reduce the calculation amount in the layout of the whole UUV space piping. Finally, based on the two-dimensional grid diagram, the accessibility metric function is set to represent the accessibility attribute of the grid, which provides the basis for the establishment of the objective function in the pipeline layout algorithm. Simulation results show that this method can effectively improve the efficiency and accuracy of UUV piping layout.