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Path planning method through collaboration of multiple underwater robots

An underwater robot, path planning technology, applied in three-dimensional position/channel control and other directions, can solve problems such as long optimization time, limited operation ability, and uneven path.

Active Publication Date: 2019-06-21
OCEAN UNIV OF CHINA
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Problems solved by technology

However, the existing space decomposition method still has defects such as uneven path and long optimization time, and needs to be further improved from the perspective of space modeling or optimization solution.
[0003] At the same time, the operating capability of a single underwater robot is often limited, and multiple underwater robot systems can significantly improve the overall operating efficiency through behavioral coordination, but this also increases the difficulty of the underwater robot path planning problem. Combining the cooperative constraints of multiple underwater robots based on the path planning problem of underwater robots will be a more challenging research work
However, at this stage, there are few researches on cooperative path planning of multiple underwater robots in the field of underwater robots. Therefore, it is necessary to provide a collaborative path planning method for multiple underwater robots to plan the navigation path of multiple underwater

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  • Path planning method through collaboration of multiple underwater robots
  • Path planning method through collaboration of multiple underwater robots
  • Path planning method through collaboration of multiple underwater robots

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Embodiment 1

[0098] Before multiple underwater robots sail in formation or perform tasks such as saturation attacks, they often need to reach (assemble) the desired target point at the same time. At this time, it is necessary to consider the time constraints of simultaneous arrival to plan the path of multiple robots. This embodiment will consider the path planning problem of multiple underwater robots when each underwater robot arrives at the terminal at the same time, and apply the above-mentioned path planning method to this embodiment to adjust the planned path so that the estimated arrival time of each underwater robot close to agreement.

[0099] refer to image 3 As shown, assuming a total of N u Underwater robots work together, specifically taking the path planning problem of the rth underwater robot as an example, in order to minimize the voyage time min T r is an indicator function, with θmax , is a constraint condition, and +∞ is used as a penalty for not satisfying the cons...

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Abstract

The present invention relates to a path planning method through collaboration of multiple underwater robots. The method comprises the steps of: employing a discretization method in a rotating coordinate system to perform modeling of a planning space; giving a target function and constraint conditions to perform optimal modeling of the path planning of each underwater robot; obtaining the optimal path of each underwater robot according to the planning space model and the optimal model of path planning of an underwater robot; and according to the optimal path of each underwater robot, determining the optimal index function of the multiple underwater robots in the collaborative constraint conditions to obtain the optimal path of the multiple underwater robots. The navigation path of each underwater robot is primarily planned based on the improved consistency theory to re-plan the path of each underwater robot on this basis to meet the collaborative constraint conditions, and therefore, the path planning method through collaboration of multiple underwater robots is simple and feasible, smooth in path, short in optimization time and high in efficiency.

Description

technical field [0001] The invention belongs to the technical field of navigation, guidance and control of underwater robots, and in particular relates to a collaborative path planning method for multiple underwater robots. Background technique [0002] The path planning problem of underwater robots refers to the selection of optimization goals (such as the shortest path length, the best energy consumption, or the least sailing time, etc.) based on known or real-time detected environmental information, and planning an optimal route from the starting point to the end point. path, and this path can avoid various obstacles or threats to ensure safe navigation. The existing underwater robot path planning methods mainly draw on the methods of ground or aerial robots, and combine the characteristics of the underwater environment and the performance constraints of the robot to continue to deepen, mainly including roadmap method, space decomposition method, stochastic programming me...

Claims

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Application Information

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IPC IPC(8): G05D1/10
Inventor 姚鹏杨睿王琨迟书凯任凭解则晓
Owner OCEAN UNIV OF CHINA
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