Underwater robot path planning method considering ocean current influence

• Main Authors: LI CHENGLIN, SHENG JINTAO, MIAO HONGXIA, CHEN JIALIN, LI YAN, QI BENSHENG, LU TIANXIN, ZOU YANG
• Format: Patent
• Language: Chinese; English
• Published: 12.09.2023
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention discloses an underwater robot path planning method considering ocean current influence. The method comprises the following steps: carrying out fusion modeling by using a grid map and an octree map, constructing terrain obstacles, fusing an ocean current semantic map, adding ocean current semantics, and carrying out modeling and management on an ocean environment; the perception range of the traditional A * algorithm is expanded, and the use scene of the traditional A * algorithm is expanded from a two-dimensional environment to a three-dimensional environment; dense three-dimensional environment information is downsampled, and the operation efficiency of an A * algorithm in a three-dimensional environment is improved; establishing a mathematical model of the relationship between the ocean current direction, the flow velocity and the navigation path direction of the underwater robot, and quantifying extra energy consumption caused by ocean current in the navigation process of the underwater robot