基于Dijkstra算法的水下机器人路径规划  

Path Planning of Underwater Robot Based on Dijkstra Algorithm

作　　者：车建涛 高方玉 解玉文 李端玲[3] 牛坤 马士恩 CHE Jiantao;GAO Fangyu;XIE Yuwen;LI Duanling;NIU Kun;MA Shien(Sate Grid Dalian Electric Power Supply Company,Dalian Liaoning 116023,China;Beijing Guowang Fuda Science&Technology Development Co.Ltd,Beijing 102401,China;Automation School,Beijing University of Posts and Telecommunications,Beijing 100876,China)

机构地区：[1]辽宁省电力公司大连供电公司,辽宁大连116023 [2]北京国网富达科技发展有限责任公司,北京102401 [3]北京邮电大学自动化学院,北京100876

出　　处：《机械设计与研究》2020年第1期44-48,共5页Machine Design And Research

基　　金：国家自然科学基金资助项目(51775052);陕西省自然科学基础研究计划(2019JM-181)资助项目。

摘　　要：为了能够实现水下机器人ROV的作业要求,将其路径规划问题分为定深度二维最优路径和不定深度三维最优路径两部分,并分别采用多边形拟合和分层多面体拟合的方法建立障碍物模型,然后通过Dijkstra算法分别求出最优路径。本文用实例证明了该方法的正确性和有效性,从而为遥控水下机器人提供了路径指引和参考,实现了水下机器人从起始无碰撞到达目标点的路径规划,并为进一步实际应用奠定了理论基础。In order to realize the requirements of the underwater robot ROV,nowits path planning problem is divided into optimal path of fixed depth and optimal path of variable depth.Then the method of polygonal approximation and the hierarchical polyhedron fitting is used to establish the obstacle model separately,and the optimal path is calculated by using the Dijkstra algorithm.This paper illustrates the correctness and validity of this method,and the path of remote underwater robot is provided to guide the ROV.The realization of underwater robot's collision free path planning lay the theoretical foundation for further practical application.

关 键 词：水下机器人(ROV) 多边形拟合 分层多面体拟合 最优路径规划 DIJKSTRA算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]