Fast Path Planning for On-Water Automatic Rescue Intelligent Robot Based on Constant Thrust Artificial Fluid Method
Joint Authors
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-10-21
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
In this paper, fast path planning of on-water automatic rescue intelligent robot is studied based on the constant thrust artificial fluid method.
First, a three-dimensional environment model is established, and then the kinematics equation of the robot is given.
The constant thrust artificial fluid method based on the isochronous interpolation method is proposed, and a novel algorithm of constant thrust fitting is researched through the impulse compensation.
The effect of obstacles on original fluid field is quantified by the perturbation matrix, and the streamlines can be regarded as the planned path.
Simulation results demonstrate the effectiveness of this method by comparing with A-star algorithm and ant colony algorithm.
It is proved that the planned path can avoid all obstacles smoothly and swiftly and reach the destination eventually.
American Psychological Association (APA)
Qi, Yongqiang& Ke, Yi. 2020. Fast Path Planning for On-Water Automatic Rescue Intelligent Robot Based on Constant Thrust Artificial Fluid Method. Scientific Programming،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1209157
Modern Language Association (MLA)
Qi, Yongqiang& Ke, Yi. Fast Path Planning for On-Water Automatic Rescue Intelligent Robot Based on Constant Thrust Artificial Fluid Method. Scientific Programming No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1209157
American Medical Association (AMA)
Qi, Yongqiang& Ke, Yi. Fast Path Planning for On-Water Automatic Rescue Intelligent Robot Based on Constant Thrust Artificial Fluid Method. Scientific Programming. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1209157
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1209157