Path Planning Method in Multi-obstacle Marine Environment

4th International Conference on Mechanical, Materials and Manufacturing

材料科学;机械制造

Zhang, Jinpeng^1 ; Sun, Hanxv^1

Automation School of Beijing University of Posts and Telecommunications, China^1

关键词: Binary tree structure;    Current direction;    Evaluation function;    Evaluation standard;    Heuristic search methods;    Marine environment;    Particle swarm algorithm;    Path planning method;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/272/1/012003/pdf
DOI  :  10.1088/1757-899X/272/1/012003

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

In this paper, an improved algorithm for particle swarm optimization is proposed for the application of underwater robot in the complex marine environment. Not only did consider to avoid obstacles when path planning, but also considered the current direction and the size effect on the performance of the robot dynamics. The algorithm uses the trunk binary tree structure to construct the path search space and A ∗ heuristic search method is used in the search space to find a evaluation standard path. Then the particle swarm algorithm to optimize the path by adjusting evaluation function, which makes the underwater robot in the current navigation easier to control, and consume less energy.