Underwater robot path planning method

Abstract

The invention discloses an underwater robot path planning method. The method comprises the steps of constructing an environment model under a rectangular coordinate system according to the related parameters of an AUV and the known obstacle information; sorting the obstacles according to the positions of the obstacles under the rectangular coordinate system; randomly generating a chromosome groupaccording to a ternary coding rule; decoding the chromosomes, solving a path corresponding to each chromosome and the length of each chromosome, and judging whether an intersection point with the dangerous area exists or not through a detection operator; calculating the fitness value of each individual in the chromosome group according to a fitness function; selecting the optimal chromosome at thecurrent stage according to the fitness value; increasing the diversity of chromosome populations through a crossover operator and a mutation operator, and supplementing new chromosomes as one part ofthe population of next iteration; and outputting a planned path through multiple iterations. According to the method, the own kinematics constraint of the AUV is considered, and the path planning ofthe AUV is realized through the combination of a Dubins curve and a genetic algorithm.

Description

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AI Technical Summary

Benefits of technology

This technology uses two techniques - one called Dubin curves or an algoric acid method for guiding navigation along specific paths within space (AU). By combining these methods with certain features like small turn radii at high speeds, this system will be able to plan effectively without over-reaching obstacles such as buildings or other structures that may block its way around them.

Problems solved by technology

This patented technical solution for improving the performance of autonomous drones (AUV) during water-based operations involves optimizing their paths based solely upon factors like navigability, range limitations, or avoidance zones between objects without considering them altogether.

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