Rapid comb-type path planning method for maximum detection coverage rate of multiple underwater robots
An underwater robot, path planning technology, applied in instruments, two-dimensional position/channel control, vehicle position/route/altitude control and other directions, can solve the problems of reduced detection efficiency, poor coverage, complexity, etc. Robustness, large coverage, and high robustness
Active Publication Date: 2022-03-18
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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[0006] (4) Some tasks are more complex and can only be completed by multiple autonomous underwater robots
However, the detection rate of multi-autonomous underwater robots is limited by the terrain of the detection area, which is usually difficult to accurately predict, resulting in poor coverage: For example: 1. The slope of the terrain changes greatly, and the work of autonomous underwater robots is challenged by safety , will automatically stop the task and no longer sail according to the preset detection line; 2. Due to the complexity of the terrain, in order to avoid extreme terrain such as cliffs, scientists will not place each autonomous underwater robot in order from left to right, and at the same time Therefore, in order to achieve greater detection efficiency, the detection areas of each autonomous underwater robot will inevitably overlap, which greatly reduces the detection efficiency
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[0053] The invention will be further described in detail below with reference to the accompanying drawings and examples.
[0054] The present invention relates to the field of multi-water robotic path planning, in particular, design a multi-autonomous underwater robot based on the path planning method of detection area coverage. In the field to be detected, the topographic characteristics of the detection area, the characteristics of autonomous robot energy, etc. are completed in the field to complete the largest detection. The present invention also relates to a path planning method based on the detection area coverage based on a self-underwater robot. The present invention includes: (1) based on terrain conditions of the area to be detected, the safety longitudinal tilt angle and its detection capabilities, reasonably, rationally, the defined detection area, and mark all dangerous grids . This will thus to be detected as an abstraction of the seabed area to a two-dimensional gri...
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The invention relates to the technical field of path planning of multiple autonomous underwater robots, in particular to a path planning method for multiple autonomous underwater robots based on the coverage rate of a detection area. Comprising the following steps: constructing a two-dimensional grid model based on topographic conditions of a to-be-detected area and the detection capability of an autonomous underwater robot; on the basis of the two-dimensional grid model, a step-by-step iteration mode is adopted to determine the detection track of the single autonomous underwater robot, and then the detection area of the single autonomous underwater robot during comb-type detection is obtained; a path plan meeting the maximum detection coverage rate of the multiple autonomous underwater robots is obtained by using the detection area of a single autonomous underwater robot during comb-type detection and combining a particle swarm optimization algorithm. According to the method, the relation between the current route of the autonomous underwater robot and all the climbing lines is calculated constantly, and safety is determined. And the method is suitable for the constantly changing detection environment on the sea, and has very high engineering significance.
Description
Technical field [0001] The present invention relates to the field of multi-water robotic path planning, in particular, design a multi-autonomous underwater robot based on the path planning method of detection area coverage. Background technique [0002] Autonomous underwater robots are effective tools for marine exploration and marine science research. Because autonomous machines have the accuracy of navigation, the location is accurate, the detection ability is excellent, and the daughter is deep. It does not require the convenience of the manipulator's resident, without the safety of the safety of people, therefore Ocean exploration areas, unmanned underwater robots play an increasingly important role. With the increasingly wide application of unattended underwater robots, unmanned underwater robots have become stronger and more complex. However, the load function is complex, and the huge self-underwater robot of body type has increased the cost of the project, which reduces th...
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IPC IPC(8): G05D1/02
CPCG05D1/0206Y02D30/70
Inventor王泽众王轶群徐会希郭春雷胡弘岩贾栋
OwnerSHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI