为水下机器人系缆系统设计了安全路径规划框架
Framework for Robust Motion Planning of Tethered Multi-Robot Systems in Marine Environments
- 用改进A*算法结合系缆建模实现安全路径规划
- 通过贝塞尔曲线使轨迹更平滑，提升协同效率
- 适合海洋科研与设施巡检场景的多机系统
本文提出CoralGuide，一种面向系缆式多机器人系统的路径规划与轨迹优化框架。研究聚焦于自主水面艇（ASV）与自主水下艇（AUV）组成的系缆系统在海洋环境中的应用。该框架通过引入针对系缆系统的专用启发式函数，改进A*算法，实现安全导航。方法融合悬链线模型进行系缆管理，并采用贝塞尔曲线插值生成更平滑的轨迹，保障多机协同运行的安全性与高效性。通过仿真与实际海试验证，CoralGuide显著提升了路径规划与轨迹优化性能，具备在海洋科研及基础设施巡检中推广应用的潜力。
原文摘要 · Abstract (English)
This paper introduces CoralGuide, a novel framework designed for path planning and trajectory optimization for tethered multi-robot systems. We focus on marine robotics, which commonly have tethered configurations of an Autonomous Surface Vehicle (ASV) and an Autonomous Underwater Vehicle (AUV). CoralGuide provides safe navigation in marine environments by enhancing the A* algorithm with specialized heuristics tailored for tethered ASV-AUV systems. Our method integrates catenary curve modelling for tether management and employs Bezier curve interpolation for smoother trajectory planning, ensuring efficient and synchronized operations without compromising safety. Through simulations and real-world experiments, we have validated CoralGuides effectiveness in improving path planning and trajectory optimization, demonstrating its potential to significantly enhance operational capabilities in marine research and infrastructure inspection.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。