摘要
为提高多自由度多冗余度的机器蛇水下环境适应能力,使机器蛇在海洋中有效避开岩石、鱼群、珊瑚和其他悬浮物,实现机器蛇在水中复杂环境灵活运动并准确到达目标位置,提出了一种基于人工势场和快速扩展随机树搜索算法的机器蛇水下三维立体智能避障算法,利用MATLAB建立三维随机障碍模型。在全局避障方面,通过快速扩展随机树搜索算法解决机器蛇路径被锁死的问题;在局部避障方面,利用人工势场方法避免了难以找到最短路径的不足。由此实现机器蛇以最快速度、最短路径的原则寻找躲避障碍到达目标点的路径。仿真结果表明,机器蛇能够有效避开复杂环境中或大或小、或疏或密的障碍,算法对实现机器蛇进行海洋探索有着重要的意义。
The snake-like robot is featured with enough freedom and redundancy. In order to improve the adaptive capacity of snake-like robots,achieve the efficient avoidance of rocks,shoal of fish,corals and other suspended solids,and realize the flexible movement of snake-like robots in complex environment,a3 D intelligent obstacle avoidance algorithm is proposed based on artificial potential field method and rapidly-exploring random tree. The proposed algorithm is used to establish a 3D occasional obstacle model through MATLAB in combination with the motion of snake-like robot. In global obstacle avoidance,the rapidly-exploring random tree algorithm is used to overcome the route deadlock of artificial robot. In local obstacle avoidance,the artificial potential field method gets rid of failing to find the shortest route. The results show that the snake-like robot can efficiently evade the barriers in any size and in any density in a complex environment.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2017年第S1期205-214,共10页
Acta Armamentarii
关键词
兵器科学与技术
机器蛇
人工势场
快速扩展随机树
避障
ordnance science and technology
snake-like robot
artificial potential field
rapidly-exploring random tree
obstacle avoidance
