Rolling path planning for underwater robot based on sensor information

DUAN Qun-jie~

doi:10.13873/j.1000-97872006.09.013

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Rolling path planning for underwater robot based on sensor information

更新时间：2025-09-11

- Rolling path planning for underwater robot based on sensor information
- Issue 9, Pages: 40-42+45(2006)
- 作者机构：
  
  1. 哈尔滨工程大学机电学院
  2. 哈尔滨工业大学市政环境工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872006.09.013
  CLC： TP242
- Published：2006
- 稿件说明：
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[1]段群杰,张铭钧,吕超.基于传感器信息的水下机器人滚动路径规划[J].传感器与微系统,2006(09):40-42+45.

DUAN Qun-jie~. Rolling path planning for underwater robot based on sensor information[J]. 2006, (9): 40-42+45.
[1]段群杰,张铭钧,吕超.基于传感器信息的水下机器人滚动路径规划[J].传感器与微系统,2006(09):40-42+45. DOI： 10.13873/j.1000-97872006.09.013.

DUAN Qun-jie~. Rolling path planning for underwater robot based on sensor information[J]. 2006, (9): 40-42+45. DOI： 10.13873/j.1000-97872006.09.013.

摘要

针对环境中障碍物为任意形状的水下机器人路径规划问题

提出了基于传感器信息的水下机器人滚动路径规划方法

该法充分利用传感器在每一采样时刻的规划窗口内实时探知的环境信息

用模糊控制方法给出机器人下一步的行走方法

探讨了凹形障碍区域中机器人的逃离方法

仿真结果表明了所提方法是有效的。

Abstract

Path planning problem for underwater robot in an unknown environment with obstacles of arbitrary shape is studied.Based on sensor information

using rolling optimization method of predictive control

a real-time rolling path planning technique for underwater robot is presented.According to the real-time environment information which detected by the sensor

utilizing fuzzy control to decide the next step of the robot

the method of robot get away from concave obstacles is discussed.The simulation results show clearly the effectiveness of the proposed technique.

关键词

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references

全局环境未知时基于滚动窗口的机器人路径规划 [J]. 张纯刚,席裕庚. 中国科学E辑:技术科学 . 2001(01)

动态不确定环境下广义控制问题的预测控制 [J]. 席裕庚. 控制理论与应用 . 2000(05)

基于模糊逻辑的自主移动机器人实时滚动路径规划及控制 [J]. 崔茂源,田彦涛,赵中祺. 吉林工业大学自然科学学报 . 1999(01)

过程控制[M]. 清华大学出版社 , 金以慧主编, 1993

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