Underwater robot path planning method for three-dimensional environment

Abstract

The invention discloses an underwater robot path planning method for a three-dimensional environment. The method comprises the following steps: establishing a three-dimensional model of a near-underwater environment; defining a starting point and an ending point of a to-be-operated route of the AUV, defining a search direction of a PSLT algorithm, starting from the starting point based on the three-dimensional model of the near-water-bottom environment and adopting the PSLT algorithm to perform optimal waypoint search of the route so as to obtain a route optimal waypoint set, and forming an optimal route through an optimal point of the route optimal waypoint set. The PSLT algorithm inherits the advantages of the Lazy Theta* for reducing LOS check and planning without angle limitation, the length of a path planned by the PSLT algorithm is shorter than that of a path planned by the Lazy Theta* algorithm and slightly longer than that of a path planned by the Theta* algorithm from the aspect of the length of a planned path, and due to smooth operation of the PSLT, waypoints are greatly reduced, so that the smoothness of the path is improved; by integrating multiple groups of simulation data, the PSLT algorithm improves the path smoothness and algorithm operation efficiency of AUV navigation while ensuring the length of the path.

Description

technical field [0001] The invention relates to the technical field of path planning, in particular to a path planning method for an underwater robot in a three-dimensional environment. Background technique [0002] With the depletion of terrestrial exploitable resources and the rapid development of science and technology, people's demand for ocean autonomous detection technology is becoming stronger and stronger. Autonomous underwater vehicles (AUV) have always been the Underwater vehicle, UUV) field of research hotspots, more and more widely used in marine scientific research, marine resource exploration and military [1，2] , the underwater environment is not conducive to the completion of various high-precision tasks for humans. In order to autonomously perform various tasks in the underwater environment, a highly autonomous AUV path planning method is necessary. Path planning is often determined by environmental modeling and path The search consists of two parts. Accordi...

AI Technical Summary

Problems solved by technology

[0004] Although the Lazy Theta* algorithm solves the limitation of the search direction on the path through the LOS check, there are still some problems that the path cannot be locally optimal due to the edge occlusion of the obstacle grid. The existing algorithms do not consider the local optimization of the LazyTheta* algorithm itself. suboptimal problem

Images