基于改进Bi-RRT算法的机器鱼路径规划方法

doi:10.6040/j.issn.1672-3961.0.2023.159

山东大学学报 (工学版) ›› 2024, Vol. 54 ›› Issue (1): 74-82.doi: 10.6040/j.issn.1672-3961.0.2023.159

• 机器学习与数据挖掘 • 上一篇

基于改进Bi-RRT算法的机器鱼路径规划方法

黄健堃^1,2,3,薛钢^1,2,3,4,刘延俊^1,2,3,4*,王雨^1,2,3,李厚池^1,2,3,白发刚^2,3,4

1.山东大学机械工程学院, 山东济南 250061;2.山东大学高效洁净机械制造教育部重点实验室, 山东济南 250061;3.山东大学机械工程国家级实验教学示范中心, 山东济南 250061;4.山东大学海洋研究院, 山东青岛 266237

发布日期:2024-02-01
作者简介:黄健堃(1999— ),男,山东临沂人,硕士研究生,主要研究方向为机器人路径规划及水下仿鱼机器人. E-mail:huangjiankun123@163.com. *通信作者简介:刘延俊(1965— ),男,山东济南人,教授,博士生导师,博士,主要研究方向为自动化机械系统、流体动力控制、波浪能发电技术、深海探测技术与装备. E-mail:lyj111ky@163.com
基金资助:
国家自然科学基金资助项目(52001186);山东省自然科学基金资助项目(ZR2020QE292); 崂山实验室科技创新资助项目(LSKJ202203505-3)

Robot fish path planning method based on improved Bi-RRT algorithm

HUANG Jiankun^1,2,3, XUE Gang^1,2,3,4, LIU Yanjun^1,2,3,4*, WANG Yu^1,2,3, LI Houchi^1,2,3, BAI Fagang^2,3,4

1. School of Mechanical Engineering, Shandong University, Jinan 250061, Shandong, China;
2. Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of Ministry of Education, Shandong University, Jinan 250061, Shandong, China;
3. National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan 250061, Shandong, China;
4. Institude of Marine Science and Technology, Shandong University, Qingdao 266237, Shandong, China

Published:2024-02-01

摘要/Abstract

摘要： 为提高机器鱼的水下路径规划效率,更好地完成水下工作,提出一种基于改进双向快速搜索随机树(bidirectional rapidly-exploring random trees, Bi-RRT)算法的机器鱼路径规划方法。以研制的混合驱动机器鱼为研究对象,介绍其结构模型和运动控制模式,为后续试验验证提供物理样机。针对Bi-RRT算法存在的采样随机、路径冗余、效率不高等问题,融合生长引导机制和连接强化机制改进Bi-RRT算法,加入生长引导机制,改善随机树生长随机、两树连接慢的问题;加入连接强化机制提高算法搜索速度。对搜索路径进行优化处理,通过剔除冗余节点、插入优化节点,改善路径质量,对路径进行平滑处理,使路径更适合机器鱼航行,实现机器鱼路径规划任务。仿真结果表明,与传统Bi-RRT算法及其他衍生快速搜索随机树(rapidly-exploring random tree, RRT)算法相比,改进的Bi-RRT算法相较于改进前节点数减少约50.8%,路径长度缩短约19%,搜索时间减少约65.3%。

关键词: 机器鱼, Bi-RRT算法, 路径规划, 节点简化, 路径平滑

中图分类号:

TP242

黄健堃,薛钢,刘延俊,王雨,李厚池,白发刚. 基于改进Bi-RRT算法的机器鱼路径规划方法[J]. 山东大学学报 (工学版), 2024, 54(1): 74-82.

HUANG Jiankun, XUE Gang, LIU Yanjun, WANG Yu, LI Houchi, BAI Fagang. Robot fish path planning method based on improved Bi-RRT algorithm[J]. Journal of Shandong University(Engineering Science), 2024, 54(1): 74-82.

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基于改进Bi-RRT算法的机器鱼路径规划方法

Robot fish path planning method based on improved Bi-RRT algorithm

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