基于社群信息传递机制的AUV路径规划算法
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1.江苏科技大学苏州理工学院;2.张家港江苏科技大学产业技术研究院;3.江苏科技大学机械工程学院;4.中科探海苏州海洋科技有限责任公司

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TP301

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工信部高技术船舶项目([2019]360);张家港市产业链创新产品攻关计划(ZKC2206);张家港市产学研预研资金(ZKYY2253、ZKYY2328);


Path Planning Algorithm Based on Community Information Transmission Mechanism for AUV
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1.Suzhou Institute of Technology,Jiangsu University of Science and Technology;2.Zhangjiagang Industrial Technology Research Institute, Jiangsu University of Science and Technology;3.School of Mechanical Engineering,Jiangsu University of Science and Technology;4.Zhangjiagang Industrial Technology Research Institute,Jiangsu University of Science and Technology;5.T-SEA Marine Technology Co,Ltd

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    摘要:

    为了提高自主水下机器人(AUV)的路径规划能力和效率,提出了基于社群信息传递机制的AUV路径规划算法。基于社群信息传递机制,首先设计了全局短、长连接算子,实现了已规划路径点邻域内最优点搜索和邻域外概率搜索;然后设计了局部短、长连接算子,实现了路径中心点的四边界衍生点搜索以及衍生点外可行路径连接;最后完成了AUV路径规划算法流程设计。六种模拟和两种海底地图仿真测试表明,与其它算法相比,该算法具有规划能力强、规划效率高以及规划路径光滑的优点。

    Abstract:

    In order to improve the path planning ability and efficiency of the autonomous underwater vehicle (AUV), an AUV path planning algorithm based on the community information transmission mechanism is proposed. Firstly, based on the community information transmission mechanism, the global short and long connection operators are designed to achieve the optimal search of the neighborhood of the planned path points and the probabilistic search outside the neighborhood. Then, the local short and long connection operators are designed, which implements the search for four boundary derived points of the path center point and the connections of feasible paths outside the derived points. Finally, the AUV path planning algorithm flow is completed. Six simulation and two seabed map simulation tests show that, compared with other algorithms, the algorithm has the advantages of strong planning ability, high planning efficiency, and smooth planning path.

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江亚峰,张亮,袁明新,等. 基于社群信息传递机制的AUV路径规划算法[J]. 科学技术与工程, , ():

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  • 收稿日期:2024-04-18
  • 最后修改日期:2024-06-03
  • 录用日期:2024-06-05
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