The invention discloses an underwater robot obstacle avoidance device and a real-time path planning method. The underwater robot obstacle avoidance device comprises a robot body, a steering executionunit and a steering auxiliary unit. The method comprises the following steps: step 1, enabling a main controller to perform sorting coding on obstacle positions according to an environment model undera rectangular coordinate system constructed by obstacle information and randomly generates a chromosome group according to a ternary coding rule; 2, decoding the chromosome by using a Dubins curve incombination with the motion information, converting the ternary chromosome sequence into an AUV path, and calculating the fitness of each individual; 3, performing selection, crossover and mutation operation to obtain a next generation group, and selecting the chromosome with the optimal fitness value at the current stage, and outputting an obstacle avoidance path through iteration when the maximum fitness is greater than a set value. The underwater robot disclosed by the invention is an autonomous underwater robot for topographic and geomorphic drawing, and can calculate the shortest obstacle avoidance path and complete obstacle avoidance along the path while performing topographic and geomorphic drawing.
本发明一种水下机器人避障装置及实时路径规划方法,包括机器人主体、转向执行单元和转向辅助单元;步骤1、主控制器根据由障碍物信息构建的直角坐标系下的环境模型对障碍物位置进行排序编码并按照三进制编码规则随机生成染色体群体;步骤2、结合运动信息,利用Dubins曲线对染色体进行解码,将三进制染色体序列转化为AUV路径并计算各个个体的适应度;步骤3、选择、交叉、变异运算之后得到次代群体并选择出当前阶段适应度值最佳的染色体;经过迭代当最大适应度大于设定值时输出避障路径;本发明水下机器人为用于地形地貌绘制的自主式水下机器人,在进行地形地貌绘制的同时可以计算出最短避障路径并沿该路径完成避障。
Underwater robot obstacle avoidance device and real-time path planning method
一种水下机器人避障装置及实时路径规划方法
2020-09-22
Patent
Elektronische Ressource
Chinesisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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