Collaborative path planning method for multiple underwater robots
An underwater robot, path planning technology, applied in three-dimensional position/channel control and other directions, can solve problems such as uneven path, long optimization time, and increase the difficulty of underwater robot path planning problem.
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[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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