Cluster recovery path planning method, device and equipment and readable storage medium

A path planning and clustering technology, applied in the field of robotics, can solve problems such as mismatching of actual motion capabilities

Active Publication Date: 2020-06-09
PENG CHENG LAB
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The main purpose of the present invention is to provide a cluster recovery path planning method, aiming to solve the technical problem that the AUV recovery path obtained by the existing method does not match the actual movement capability of the AUV

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  • Cluster recovery path planning method, device and equipment and readable storage medium
  • Cluster recovery path planning method, device and equipment and readable storage medium
  • Cluster recovery path planning method, device and equipment and readable storage medium

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Embodiment Construction

[0039] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0040] Such as figure 1 as shown, figure 1 It is a schematic diagram of the terminal structure of the hardware operating environment involved in the solution of the embodiment of the present invention.

[0041] The terminal in this embodiment of the present invention may be a PC, or may be a mobile terminal device with a display function such as a smart phone, a tablet computer, or the like.

[0042] Such as figure 1 As shown, the terminal may include: a processor 1001 , such as a CPU, a communication bus 1002 , a user interface 1003 , a network interface 1004 , and a memory 1005 . Wherein, the communication bus 1002 is used to realize connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional ...

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Abstract

The invention discloses a cluster recovery path planning method, device and equipment and a readable storage medium. The cluster recovery path planning method comprises the following steps: parameterizing a motion trail through a B spline; an AUV cluster recovery motion planning problem is converted into a low-dimensional optimization problem suitable for real-time optimization, a path is adaptively adjusted according to the actual motion capacity of an AUV, and compared with a broken line trajectory planned in an existing mode, a curve trajectory obtained through final optimization is easierto achieve. By utilizing the property of the B spline curve, the number of original multiple preset constraints is reduced; a nonlinear integer programming problem is solved through an optimization algorithm, a relative global optimal solution can be obtained, and finally an efficient AUV cluster recovery path with the shortest time adaptive to the actual motion capability of the AUV is obtained.

Description

technical field [0001] The present invention relates to the technical field of robots, and in particular to a cluster recovery path planning method, device, equipment and readable storage medium. Background technique [0002] Autonomous underwater vehicle (AUV, Autonomous Underwater Vehicle) is an autonomous unmanned underwater device that performs underwater tasks without being controlled by an operator. The AUV recovery technology is to ensure that the AUV can be quickly recovered after performing the specified mission and returning to the voyage. It is a cutting-edge technology in the field of marine applications. Since the AUV has only one propeller, the maneuverability is poor, and it is difficult to move completely according to the path planned by the existing path planning method, which leads to the technology that the AUV recovery path obtained by the existing method does not match the actual movement ability of the AUV. question. [0003] The above content is only...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/20G06N3/00G06N3/12G06Q10/04
CPCG06Q10/047G06N3/006G06N3/126
Inventor 李胜全张爱东黄裘俊常亮朱华陆海博
Owner PENG CHENG LAB
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