摘要
常用方法运用改进粒子群算法规划路径时,产生的规划节点数量较多,平均规划路径长度长,导致路径规划质量偏低,提出应用改进RRT算法的水下机器人全局路径规划研究。采用切线法设定环境模型建立假设,建立水下环境模型;在RRT算法中引入目标引力思想,设计改进RRT算法的规划步骤,实现路径规划。设置无障碍与有障碍2种实验环境,结果分析:研究方法相较此次实验选择方法,在有无障碍条件下,规划路径节点数分别少367、43;平均规划路径长度分别小778m、224m,具有较高的全局路径规划质量。
When using the improved particle swarm optimization algorithm to plan the path,the number of planning nodes is large and the average planning path length is long,resulting in the low quality of path planning.A study on the global path planning of underwater vehicle using the improved RRT algorithm is proposed.The tangent method is used to set environmental model assumptions and establish underwater environmental model;The idea of target gravity is introduced into RRT algorithm,and the planning steps of improved RRT algorithm are designed to realize path planning.Two experimental environments,barrier free and barrier free,were set up.The result analysis:compared with the experimental selection method,the number of planned path nodes under barrier free conditions was 367 and 43 respectively;The average planned path length is 778 m and 224 m respectively,which has high global path planning quality.
作者
李光宇
李守军
张锦
LI Guang-yu;LI Shou-jun;ZHANG Jin(School of Mechanical and Electrical Engineering,Suqian University,Suqian 223800,China)
出处
《舰船科学技术》
北大核心
2021年第24期46-48,共3页
Ship Science and Technology
基金
宿迁市科技计划项目(Z2019106)
关键词
改进RRT算法
环境模型
水下机器人
全局路径
目标引力
路径规划
improved RRT algorithm
underwater vehicle
global path
path planning
environmental model
target gravity
