Three-dimensional path planning method and system of underwater robot

An underwater robot and route planning technology, applied in the field of robotics, can solve problems such as difficulty in solving route planning methods, poor adaptability to underwater dynamic unstructured environments, etc., achieve fast iterative convergence speed, and reduce the risk of falling into local optimal solutions Probability, Adaptive Effects

Active Publication Date: 2019-08-30
CHINA AGRI UNIV
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Problems solved by technology

Since underwater robots work in large-scale unstructured three-dimensional space environments such as lakes or oceans, this brings great difficulties to the solution of route planning methods
Traditional route planning methods have poor adaptability to underwater dynamic unstructured environments when solving underwater robot route planning problems

Method used

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  • Three-dimensional path planning method and system of underwater robot
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  • Three-dimensional path planning method and system of underwater robot

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Embodiment Construction

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the Some, but not all, embodiments are invented. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0029] Compared with traditional algorithms, swarm intelligence optimization algorithms that have developed rapidly in recent years, such as particle swarm optimization, ant colony algorithm, and artificial bee colony algorithm, can quickly approach nonlinear solutions, have self-organization, self-learning functions and certain Fault tolerance. The application of thes...

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Abstract

The invention provides a three-dimensional path planning method and a three-dimensional path planning system of an underwater robot. The three-dimensional path planning method of the underwater robotincludes: building a three-dimensional environment model of the underwater robot; initializing speed attribute and position attribute of each beetle individual in a beetle swarm algorithm in the three-dimensional environment model, and obtaining a global extremum in a beetle swarm according to the speed attribute and the position attribute; performing iteration updating on the global extremum by updating the speed attribute and the position attribute of each beetle individual, and obtaining an objective planned path according to a target global extremum finally obtained after the iteration updating is completed. The three-dimensional path planning method adopts the beetle swarm algorithm to plan the three-dimensional path of the underwater robot, is more flexible than a traditional path planning method, has strong adaptive capacity to complex underwater non-structural environment, has the characteristic of being high in iteration convergence speed when compared with a basic particle swarm algorithm, and can reduce a probability of trapping in a locally optimal solution.

Description

technical field [0001] The present invention relates to the technical field of robots, and more specifically, to a three-dimensional route planning method and system for an underwater robot. Background technique [0002] Three-dimensional route planning for underwater robots is one of the key technologies to realize intelligent control and autonomous cruise of underwater robots. The three-dimensional route planning of the underwater robot is given a moving body and a description of the environment model. After the environment modeling is completed, the route planning task of the underwater robot needs to meet certain optimization criteria (such as the shortest route) in the safe navigation area. , the least time-consuming, etc.) to search for an optimal path from the specified starting point to the target point. Since underwater robots work in large-scale unstructured three-dimensional space environments such as lakes or oceans, this brings great difficulties to the solutio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B63C11/52G01C21/20G06N3/00
CPCB25J9/1605B25J9/1664B63C11/52G01C21/20G06N3/006
Inventor 安冬穆义卓位耀光李道亮
Owner CHINA AGRI UNIV
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