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Stepwise Cooperative Trajectory Planning for Multiple BUVs Based on Temporal-Spatial Bezier Curves

文献类型：期刊论文

作者Wang, Rui5; Jiang, Tianyu3; Bai, Ge2; Wang, Yu5; Wang, Shuo1,5; Tan, Min4
刊名IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
出版日期2023
卷号72页码:14
ISSN号0018-9456
关键词Trajectory planning Trajectory Planning Vehicle dynamics Robots Underwater vehicles Real-time systems Bezier curve biomimetic underwater vehicle (BUV) cooperative trajectory planning dynamic obstacle avoidance
DOI10.1109/TIM.2023.3275617
通讯作者Wang, Shuo(shuo.wang@ia.ac.cn)
英文摘要Biomimetic underwater vehicles (BUVs) are important instrumentation in applications such as water quality monitoring and underwater detection. In this article, we study the cooperative trajectory planning problem for multiple BUVs and propose a stepwise trajectory planning algorithm based on the temporal-spatial Bezier curves to enable cooperative formations. We introduce the time variable into the 3-D Bezier curve, designing a 4-D temporal-spatial Bezier curve. Considering the various physical constraints of the BUV, we obtain a smooth and feasible trajectory using particle swarm optimization (PSO) when taking the shortest trajectory distance as the optimization goal. On this basis, we propose a method to perform cooperative trajectory planning and efficient obstacle avoidance replanning for multiple BUVs by integrating the real-time collision avoidance, real-time detection, and underwater complex terrain constraints. We verify the effectiveness of the proposed cooperative planning method through simulation and comparison.
WOS关键词UNDERWATER VEHICLE
资助项目National Science and Technology Innovation 2030 Major Project[2022ZD0209600] ; National Natural Science Foundation of China[62276253] ; National Natural Science Foundation of China[62203435] ; National Natural Science Foundation of China[62122087] ; Beijing Natural Science Foundation[4222056] ; Beijing Natural Science Foundation[4222055] ; Beijing Nova Program[Z211100002121152] ; Youth Innovation Promotion Association Chinese Academy of Sciences (CAS)[2020137]
WOS研究方向Engineering ; Instruments & Instrumentation
语种英语
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号WOS:001000758600018
资助机构National Science and Technology Innovation 2030 Major Project ; National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Beijing Nova Program ; Youth Innovation Promotion Association Chinese Academy of Sciences (CAS)
源URL[http://ir.ia.ac.cn/handle/173211/53507]  
专题多模态人工智能系统全国重点实验室
通讯作者Wang, Shuo
作者单位1.Chinese Acad Sci, CAS Ctr Excellence Brain Sci & Intelligence Techno, Shanghai 200031, Peoples R China
2.Renmin Univ China, BDA Sch, High Sch, Beijing 100176, Peoples R China
3.Univ Sci & Technol Beijing, Inst Adv Engineers, Beijing 100083, Peoples R China
4.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China
5.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Wang, Rui,Jiang, Tianyu,Bai, Ge,et al. Stepwise Cooperative Trajectory Planning for Multiple BUVs Based on Temporal-Spatial Bezier Curves[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2023,72:14.
APA Wang, Rui,Jiang, Tianyu,Bai, Ge,Wang, Yu,Wang, Shuo,&Tan, Min.(2023).Stepwise Cooperative Trajectory Planning for Multiple BUVs Based on Temporal-Spatial Bezier Curves.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,72,14.
MLA Wang, Rui,et al."Stepwise Cooperative Trajectory Planning for Multiple BUVs Based on Temporal-Spatial Bezier Curves".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 72(2023):14.

入库方式： OAI收割

来源：自动化研究所

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