摘要
为解决传统水下机器人移动路径规划系统存在路径规划不准确的不足,提出了一种水下机器人移动路径智能规划系统设计方法。给出水下机器人路径智能规划系统整体结构设计方案,以及路径识别空间三维传感器设计,实现其硬件设计;依托水下障碍物的三维识别过程设计,以路径智能规划算法设计完成软件设计,实现了水下机器人移动路径智能规划系统设计。试验数据表明,提出的智能规划系统较传统规划系统,规划准确率提高50.01%,适合复杂水域的水下机器人移动路径智能规划。
In order to solve the problem of inaccurate path planning in traditional auv mobile path planning system,a design method of auv mobile path intelligent planning system was proposed.The overall structure design scheme of the underwater robot path intelligent planning system,as well as the design of the path recognition space 3d sensor are presented,and the hardware design is realized.Based on the 3d identification process design of underwater obstacles,the software design is completed with the intelligent path planning algorithm design,and the intelligent path planning system design of underwater robot is realized.The experimental data show that the proposed intelligent planning system improves the planning accuracy by 50.01%compared with the traditional planning system.Intelligent path planning for underwater robots in complex waters.
作者
王欢
Wang Huan(School of Mechanical Engineering,Nanjing Institute of Technology,Nanjing Jiangsu 210043)
出处
《现代工业经济和信息化》
2022年第4期159-162,共4页
Modern Industrial Economy and Informationization
关键词
水下机器人
移动路径
智能规划
系统设计
underwater robot
moving path
intelligent planning
system design
