水下爬行机器人多目标路径规划的研究  

Research on multi-objective path planning for underwater climbing robot

作　　者：于晖[1] 苏延森 YU Hui;SU Yansen(No.38 Research Institute,China Electronics Technology Group Corporation,Hefei 230088,China;School of Computer Science and Technology,Anhui University,Hefei 230039,China)

机构地区：[1]中国电子科技集团公司第三十八研究所,安徽合肥230088 [2]安徽大学计算机科学与技术学院,安徽合肥230039

出　　处：《合肥工业大学学报（自然科学版）》2019年第2期178-183,229,共7页Journal of Hefei University of Technology：Natural Science

基　　金：国家自然科学基金资助项目(61502004)

摘　　要：文章提出使用一种基于三角网格的fast marching(TFM)算法解决水下爬行机器人在2.5维水底地表环境下的路径规划问题,在制定规划算法的费用函数时,考虑了地形特征因素、水下爬行机器人的运动限制、任务本身要求等多个目标的决策和限制。通过仿真实验,验证了该算法在2.5维复杂水底地表环境下可以生成一条连续、平滑、最优的路径,并且可以根据不同的任务目标规划出满足任务要求的最优路径。蒙特卡罗实验表明,该算法运行速度非常快,可以进行在线规划。In this paper,a fast marching algorithm based on triangular grid(TFM) was used to resolve underwater climbing robot path planning problem on 2.5-dimensional complex underwater surface.The cost function for this planning algorithm considered the decisions and constraints for multi-factors,such as the topography factors,the movement characteristics of underwater climbing robots and the tasks.The simulations verified that the proposed algorithm could generate a continuous,smooth and optimal path on 2.5-dimensional complex underwater surface,and it also could generate the optimal path which met the requirements of the tasks.The Monte Carlo simulation showed that the algorithm ran fast,and it could work for online planning.

关 键 词：水下爬行机器人 路径规划 快速步进法 三角网格 多目标 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]