Improved RRT<sup>*</sup>-A<sup>*</sup>-based Three-Dimensional Path Planning Algorithm for the Robotic Dolphin

Zhang, Chi; Liu, Zhenna; Wei, Yaoguang; An, Dong; Liu, Jincun

doi:10.1109/rcar54675.2022.9872185

2022 IEEE International Conference on Real-Time Computing and Robotics (RCAR) 2022

DOI: 10.1109/rcar54675.2022.9872185

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Improved RRT^-A^-based Three-Dimensional Path Planning Algorithm for the Robotic Dolphin

Chi Zhang

Zhenna Liu²,

Yaoguang Wei

et al.

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2024

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“…Due to the adoption of a greedy strategy and being influenced by the global environment, the proposed algorithm may not select the maximum step length available for coverage under the current policy. Inspired by the RRT* algorithm, a rewrite strategy inspired by RRT* for coverage path planning is introduced (Liu, Wu, Yu, and Xue (2019); C Zhang, Liu, Wei, An, and Liu (2022)…”

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confidence: 99%

Development and application of the coverage path planning based on a biomimetic robotic fish

Liu,

Zhao,

Liu

et al. 2024

Preprint

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This paper studies the coverage path planning and path following problems for an underwater biomimetic robotic fish to finish the deep-sea net cage water quality monitoring. Firstly, with a focus on minimizing total path length, repetition rate, and turning occurrences to enhance path coverage efficiency and reduce energy consumption, we propose a novel coverage path planning strategy. This strategy incorporates DQN, a reward function, and a rewrite strategy inspired by RRT*. Secondly, a high-performance path-following method, which takes into account robot performance, is designed to cope with adverse conditions in net cages. Finally, the simulation and field experiments demonstrate significant improvements over existing methods and the effectiveness in practical applications, showcasing its applicability in aquaculture management. The proposed algorithm offers valuable insights into optimizing coverage path planning for underwater robots in practical scenarios.

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mentioning

confidence: 99%

Development and application of the coverage path planning based on a biomimetic robotic fish

Liu,

Zhao,

Liu

et al. 2024

Preprint

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Improved RRT^-A^-based Three-Dimensional Path Planning Algorithm for the Robotic Dolphin

Cited by 1 publication

References 22 publications

Development and application of the coverage path planning based on a biomimetic robotic fish

Development and application of the coverage path planning based on a biomimetic robotic fish

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Improved RRT*-A*-based Three-Dimensional Path Planning Algorithm for the Robotic Dolphin

Cited by 1 publication

References 22 publications

Development and application of the coverage path planning based on a biomimetic robotic fish

Development and application of the coverage path planning based on a biomimetic robotic fish

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Product

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Improved RRT^-A^-based Three-Dimensional Path Planning Algorithm for the Robotic Dolphin