摘要
介绍了一实际智能水下机器人三维空间的路径规划,给出一种新的海洋环境表示法———海面区域分割环境建模方法,并对A搜索算法进行了改进,提出动态扩展搜索点的思想,使三维空间路径规划算法得以简化并易于实现该方法在实际水下机器人的海试中进行了试验。
The 3-D path planning for intelligent underwater robot is introduced in this paper.A new modelling method of ocean environment,regional partition on ocean surface,is given.And A-star algorithm is modified to meet dynamic expanding search node,so that the 3-D path planning is simplified and realized easily.The path planning is practised successfully in a ROV's ocean test.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
1996年第4期37-41,共5页
Journal of Harbin Engineering University