Real-time path planning method and system for bionic gliding robot dolphins
A real-time path planning and path planning technology, applied to underwater operation equipment, three-dimensional position/channel control, ships, etc., can solve problems that are not applicable to practical applications, and achieve effective planning effects
Active Publication Date: 2022-02-08
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. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principle 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 multiple steering modes and the corresponding minimum steering radius, and 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 an approach network and an obstacle avoidance network, and then determine the forward direction and forward progress, so as to control the forward motion of the bionic gliding robot dolphin, so that real-time monitoring of the bi...
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The present invention relates to a real-time path planning method and system for a bionic gliding robot dolphin. The path planning method includes: determining various steering modes and corresponding minimum steering radii based on the tail fin mode and the opposing fin mode of the bionic gliding robot dolphin; According to the current position of the bionic gliding machine dolphin underwater, the target point and the obstacle position, a path planning network is obtained, and the path planning network includes an approach network and an obstacle avoidance network; according to the minimum turning radius, the bionic glider Determine the motion amount of the bionic gliding robot dolphin based on the underwater current position, target point and obstacle position of the robot dolphin, the motion amount includes the forward direction and the forward step length; according to the motion amount and the path planning network, determine the Describe the current action of the bionic gliding robot dolphin, so as to realize the effective planning of the real-time path of the bionic gliding robot 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 maritime cruise, search and rescue, exploration and other tasks, which have attracted extensive attention of many researchers. With its superior maneuverability and high speed, the bionic robot has successfully achieved difficult acrobatic movements such as rolling back and forth and jumping continuously, but it is accompanied by huge energy consumption. Therefore, by learning from the buoyancy adjustment mechanism of underwater gliders, researchers have developed a bionic gliding machine dolphin, which combines gliding motion and dolphin-like wave motion, so as to obtain the ability of high maneuverability and strong endurance at the same time, which greatly expands ...
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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