智能水下机器人路径规划

Path Planning for Intelligent Underwater Robot

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.