Two-dimensional route planning method for UUV to geometrically bypass circular barriers
A circular obstacle, geometric detour technology, applied in vehicle position/route/height control, non-electric variable control, instruments, etc., to achieve the effect of simple principle, less planning information, and high planning efficiency
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Method used
Image
Examples
Example Embodiment
[0039] The following examples illustrate the present invention in detail.
[0040] Combine figure 1 Introduce the environmental model of UUV two-dimensional route planning.
[0041] The environmental model of route planning in the present invention adopts a two-dimensional geometric space model. The starting point of the planned route is O b , The end of the route is O e , O b And O e Respectively expressed in two-dimensional coordinates as:
[0042] O b =(x ob ,y ob ); O e =(x oe ,y oe ) (1)
[0043] In addition, the current planning point used in each step of the route planning process is set to O c , Expressed in two-dimensional coordinates as:
[0044] O c =(x oc ,y oc ) (2)
[0045] Suppose there are a certain number of circular obstacles in the two-dimensional geometric space, such as figure 1 As shown, set the circular obstacle as Z circ , Its parameterized expression is:
[0046] Z circ =(x circ ,y circ ,r) (3)
[0047] Where (x circ ,y circ ) Represents the two-dime...
PUM
Abstract
Description
Claims
Application Information
- R&D Engineer
- R&D Manager
- IP Professional
- Industry Leading Data Capabilities
- Powerful AI technology
- Patent DNA Extraction
Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.
© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap