Optimal path planning and obstacle avoiding design method for underwater vehicle

Abstract

The invention discloses an optimal path planning and obstacle avoiding design method for an underwater vehicle, which is used for carrying out underwater vehicle optimal path planning and obstacle avoiding on the basis of fusion of a binary heap acceleration algorithm, a 26 neighbourhood NA* algorithm and an arc-straight line-arc turning strategy. According to the invention, firstly, an underwaterenvironment model is established in a mode of a discrete three-dimensional gird chart, and the gird chart partitions an underwater environment into a plurality of cells with the same size; then a path is planned by adopting the 26 neighbourhood NA* algorithm so as to eliminate a path zigzagging effect and avoid partial collision; and then the arc-straight line-arc turning strategy is used for avoiding the influence of a width of a vehicle body and a turning radius. The optimal path planning and obstacle avoiding design method has the advantages that the 26 neighbourhood NA* algorithm facing athree-dimensional scene is proposed and applied to autonomous navigation of the underwater vehicle; the characteristic of large turning radius of the underwater vehicle is considered and utilized soas to effectively avoid collision caused by the width of the vehicle; and the planned path is relatively smooth and has few inflection points.

Description

technical field [0001] The invention relates to an optimal path planning method, in particular to an optimal path planning and obstacle avoidance design method for an underwater vehicle. Background technique [0002] The traditional A* algorithm is developed by combining the advantages of BFS algorithm (Breadth-First Search algorithm) and Dijkstra algorithm (shortest path algorithm). It searches for nodes based on 8 neighborhoods. It is a global path planning method for two-dimensional scenes. However, the traditional A* algorithm does not consider the width of the aircraft body. At the same time, because the traditional A* algorithm searches for nodes based on multiple neighborhoods, it will produce a sawtooth effect, and the planned path has long broken lines and many inflection points. The traditional A* algorithm is only for the two-dimensional environment, and the A* algorithm is extended to the NA* algorithm that can be applied in the underwater three-dimensional envi...

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Problems solved by technology

However, the traditional A* algorithm does not consider the width of the aircraft body

At the same time, because the traditional A* algorithm searches for nodes based on multiple neighborhoods, it will produce a sawtooth effect, and the planned path has long broken lines and many inflection points.

The traditional A* algorithm is only for the two-dimensional environment, and the A* algorithm is extended to the NA* algorithm that can be applied in the underwater three-dimensional environment to plan the optimal path of the underwater vehicle, and at the same time satisfy the optimal path, few inflection points, and no collision requirements, there are few reports at home and abroad

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