Path planning for swarm AUV visiting communication node
文献类型：会议论文
| 作者 | Geng C(耿超)1,2,3; Li GN(李冠男)1,2,4 ; Xu HL(徐红丽)1,2
|
| 出版日期 | 2019 |
| 会议日期 | August 8-11, 2019 |
| 会议地点 | Shenyang, China |
| 关键词 | Path planning AUV swarm Biological inspired neural network |
| 页码 | 233-239 |
| 英文摘要 | This paper proposes a method for path planning of an underwater robot swarm. The method is based on biological inspired neural network to plan path between robots and communication nodes. The robot swarm is used to search wild sea area. To solve the long distance communication problem, we deploy some communication nodes ahead, forming a communication network under the water. The robots visit the nodes to communicate. With this method, robots can also avoid obstacles in real time. Firstly, put the landscape into grid map. Then build biologically inspired neural network based on the grid map. The node attracts the robots and the obstacles reject the robots through neural activity. At last, robots plan their path by the activity with a steepest gradient descent rule. Simulation result shows the method may lose in local optimum, so we improve the method to avoid repetitive path. The results show that the improvement effective for path planning. |
| 产权排序 | 1 |
| 会议录 | Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
 |
| 会议录出版者 | Springer Verlag |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISSN号 | 0302-9743 |
| ISBN号 | 978-3-030-27534-1 |
| WOS记录号 | WOS:000569253000022 |
| 源URL | [http://ir.sia.cn/handle/173321/25498]  |
| 专题 | 沈阳自动化研究所_海洋信息技术装备中心 |
| 通讯作者 | Geng C(耿超) |
| 作者单位 | 1.The State Key Laboratory of Robotics, Shenyang Institute of Automation, China Academy of Science (CAS), Shenyang 110016, China 2.(Institutes for Robotics and Intelligent Manufacturing, China Academy of Science (CAS), Shenyang 110016, China 3.School of Information Science and Engineering, Northeastern University, Shenyang 110819, China 4.University of Chinese Academy of Sciences, Beijing 100049, China |
| 推荐引用方式 GB/T 7714 | Geng C,Li GN,Xu HL. Path planning for swarm AUV visiting communication node[C]. 见:. Shenyang, China. August 8-11, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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