基于RRT算法的混合动力水下滑翔机的路径规划
Path Planning of Hybrid Underwater Glider Based on RRT Algorithm

DOI: 10.12677/AMS.2022.91008, PP. 67-78

Keywords: 混合动力水下滑翔机，快速扩展随机树，路径规划
Hybrid Underwater Glider, Fast Expanding Random Tree, Path Planning

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Abstract:

混合动力水下滑翔机相对于传统的滑翔机，有运动速度快、机动性好，运动模式多等优点。为了更好地利用混合动力水下滑翔机的优势，开展滑翔机的路径规划研究，通过引入RRT算法向终点采样概率Rsample并调整合适的生长步长α，可以更快地生成滑翔机的规划路径。并简化了滑翔机在水平面侧向的运动学方程，增加了滑翔机的转向半径约束。最后使用B样条曲线对生成路径进行光滑化处理，改善了生成路径的质量。
Compared with the traditional glider, the hybrid underwater glider has the advantages of fast speed, good maneuverability and multiple motion modes. In order to make better use of the advantages of hybrid underwater glider, this paper studies the path planning of glider. By introducing the RRT algorithm to sample the probability Rsample from the end point and adjusting the appropriate growth step α, the planned path of the glider can be generated more quickly. The lateral kinematics equation of glider in horizontal plane is simplified and the steering radius constraint is added. Finally, B-spline curve is used to smooth the generated path, and the quality of the generated path is improved.

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