| With the increase in the breadth and depth of human exploration of nature,the application requirements and scope of applications of autonomous navigation robots in military,rescue with extreme environment,underwater resource detection and other fields continue to increase.As the prerequisite for intelligent robots to complete various tasks,path not only affects the quality of task completion,but also is closely related to the safety of the robot.This paper focuses on the problems of applying the Fast Marching algorithm in complex environment,and conducts in-depth research on modeling with complex environment,improving Eikonal equation and solution method,actual application requirement.The main research contents andachievements are as folllows:1.According to the safety requirements of the robot,Introducing a quantitative hazard function to describe the influence of the distance between the robot and the obstacle and the navigation speed on the safety of the robot.A method of constructing a complex environment model with safety distance constant and speed coefficient is proposed.2.Based on the physical principle of wave propagation,combined with environmental disturbance dynamics and hazard distribution function,constructing the Eikonal equation suitable for complex environments,and the numerical solution method of the equation is given.Further analyze the feasibility and robustness of the algorithm for path generation under environments.with different disturbance force and obstacle.Experiments show,without changing the complexity of the algorithm,the improved Fast Marching algorithm can be applied to the path planning under the environment with arbitrary disturbance force and obstacle.3.Further considering the influence of robot kinematics and dynamics,the initial orientation and heading angle of the robot are introduced into the Eikonal equation and the solution method is given.The optimal ship navigation route under the influence of ocean currents and obstacles is generated by simulation,and the energy consumption under the operation along the path is given by the ship dynamic equation.By further comparing the energy consumption of running along the path without considering the kinematic characteristics,the effectiveness of the algorithm is verified. |
