针对海洋环境的复杂性，考虑水下机器人能量的局限性，为减小洋流环境中作业全程水下机器人的能量消耗，以某水下机器人为研究对象，设计实现基于RRT*的路径最短和能耗最低的路径规划算法；并进行包括RRT*算法和RRT算法在复杂环境下的对比、不同洋流流速环境中水下机器人路径最短和能耗最低路径规划的仿真模拟。最后在水池中，利用实验室现有的水下机器人平台进行了真机实验。仿真测试和真机实验结果表明:所设计的基于RRT*的路径最短和能耗最低的路径规划算法可行有效。
In view of the complexity of submarine environment, considering the limited energy of remote operated vehicle (ROV)，to reduce the energy consumption of ROV in ocean current environment during the whole operation，taking an ROV as the research object, a RRT*-based path planning algorithm based on shortest path and lowest energy consumption was designed. The simulations including the comparison between RRT* and RRT algorithm in complex environment as well as the comparison of path planning based on the designed algorithm in the environment of different ocean current velocities were carried out. Finally, a real experiment was carried out in a basin by using the existing underwater vehicle platform. Results of simulation and experiment show that the designed path planning algorithm was feasible and effective.
2019,41(9): 66-73 收稿日期：2018-07-27
DOI：10.3404/j.issn.1672-7649.2019.09.013
分类号：TP24
作者简介：丁帅(1995-),男,硕士,研究方向为水下机器人控制与导航
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