Real-time path planning method and system for bionic gliding robot dolphin
A technology of real-time path planning and path planning, which is applied to ships, navigation calculation tools, three-dimensional position/channel control, etc., and can solve problems that are not applicable to practical applications
Active Publication Date: 2020-10-27
INST OF AUTOMATION CHINESE ACAD OF SCI
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However, most of the environments studied in the past are relatively simple and static, which are not suitable for practical applications.
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[0070] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention.
[0071] The purpose of the present invention is to provide a real-time path planning method for a bionic gliding robot dolphin, first determine a variety of steering modes and the corresponding minimum turning radius, and in real time according to the current underwater position, target point and obstacle of the bionic gliding robot dolphin Position, adjust the path planning network, the path planning network includes the approach network and the obstacle avoidance network, and then determine the direction of advancement and the forward step length, so as to control the forward movement of the bionic gliding robot dolphins, so as to realize the ...
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The invention relates to a real-time path planning method and system for a bionic gliding robotic dolphin. The method comprises steps of determining a plurality of steering modes and corresponding minimum steering radiuses based on a tail fin mode and an opposite fin mode of the bionic gliding robotic dolphin; according to the current position, the target point and the obstacle position of the bionic gliding robot dolphin under water, a path planning network being obtained, and the path planning network comprising an approaching network and an obstacle avoidance network; determining the actionquantity of the bionic gliding robotic dolphin according to the minimum steering radius, the current position of the bionic gliding robotic dolphin under water, a target point and an obstacle position, determining the action quantity of the bionic gliding robotic dolphin, the action quantity comprising a forward direction and a forward step length; and determining the current action of the bionicgliding robotic dolphin according to the action quantity and a path planning network, thereby realizing effective planning of the real-time path of the bionic gliding robotic dolphin.
Description
technical field [0001] The invention relates to the technical field of underwater robot planning, in particular to a real-time path planning method and system for a bionic gliding robot dolphin. Background technique [0002] In recent years, underwater bionic robots have played an increasingly important role in tasks such as sea cruising, search and rescue, and exploration, and have attracted extensive attention from many researchers. With its superior maneuverability and high speed, the bionic robot has successfully achieved difficult acrobatic movements such as back and forth rolls and continuous water jumps, but it is accompanied by huge energy consumption. Therefore, by referring to the buoyancy adjustment mechanism of underwater glider, researchers have developed a bionic gliding robot dolphin, which has both gliding motion and dolphin-like wave motion, thereby obtaining high maneuverability and strong endurance at the same time, which greatly expands the actual Field ...
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IPC IPC(8): G01C21/20G05D1/10B63C11/52
CPCG01C21/20G05D1/10B63C11/52
Inventor 喻俊志吴正兴王健孟岩谭民
Owner INST OF AUTOMATION CHINESE ACAD OF SCI