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Underwater robot path optimization method based on Smooth-RRT algorithm

An underwater robot and path optimization technology, applied in the field of optimization, can solve problems such as ladder-shaped and zigzag road sections, smoothing, and different paths, and achieve the effect of reducing the number of steering operations and smoothing the path

Inactive Publication Date: 2018-04-06
HARBIN ENG UNIV
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AI Technical Summary

Problems solved by technology

[0003] While the RRT algorithm completes the exploration and planning of the unknown environment, there are the following problems: random sampling in the sampling space, so the same task is planned multiple times, and the paths generated each time are different, which affects the efficiency of task completion and affects the robot. body damage
However, these improved methods do not take into account the limitation of the movement angle of the underwater robot, and do not smooth the generated path, which is very easy to produce ladder-shaped and zigzag road sections, which will cause damage to the robot body.

Method used

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Embodiment Construction

[0031] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0032] An underwater robot path optimization based on the Smooth-RRT algorithm proposed by the present invention specifically includes the following steps.

[0033] Step 1: The problem of the movement angle of the underwater robot.

[0034] The curve determined by the reference point in the motion planning of the underwater robot is the motion path, which is a time series, which can be expressed as a mathematical expression:

[0035]

[0036] s represents the path length in units, S n Indicates the distance from the start point to the end point. The tangent angle θ(s) of the path is equal to the motion angle θ:

[0037] θ=θ(s) (2)

[0038]

[0039] The motion angle of the underwater robot is: ψ(s)=θ(s)-β(s), where β(s) is the hydrodynamic angle of the underwater robot. When β(s)=0, there is ψ( s)=θ(s), the underwater robot can perform translational moti...

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Abstract

The invention discloses an underwater robot path optimization method based on Smooth-RRT algorithm, which belongs to the field of optimization. By aiming at the characteristics of complex working environment and high real-time requirement of an underwater robot, for satisfying path programming requirements, based on a classic rapidly-exploring random tree (RRT) algorithm, the method provides the Smooth-RRT algorithm path optimization method. According to the method, a convergence factor and an angle factor are added for improving selection of a growing point and an exploration point of exploring random tree, and algorithm speed and practicality are increased. For considering the special requirements of shortest distance and control performance of the underwater robot, and a greedy algorithm is used for smoothly processing the programmed path. The experiment result shows that the method can rapidly complete route searching, search efficiency is increased, the programmed distance is shortened, the optimized path is suitable for robot tracking, and the requirement of a programming system of the underwater robot can be satisfied.

Description

technical field [0001] The invention relates to the optimization field, in particular to an underwater robot path optimization method based on the Smooth-RRT algorithm. Background technique [0002] Robot path planning can be divided into global path planning and local path planning. When the environment is unknown or partially unknown, local path planning is used. Due to the complex marine environment, only using the global path planning of the chart, it cannot respond to unknown seabed terrain and ships in a timely and effective manner. Path planning is an important direction of robot research, which means that according to a certain performance index, the robot searches for an optimal or suboptimal path from the initial state to the target state that can avoid obstacles in its environment. Traditional path planning algorithms include grid method, artificial potential field method, polygon fitting method, genetic algorithm, etc., but these methods all need to model obstac...

Claims

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Application Information

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IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/20G05D1/021
Inventor 于立君魏智红王辉董泽全高菁张一丁莹王正安胡羽坤张雪
Owner HARBIN ENG UNIV
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