| 基于Fast Marching方法的多目标点路径规划的研究 |
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| 引用本文：于晖，王永骥.基于Fast Marching方法的多目标点路径规划的研究[J].计算技术与自动化,2015,(3):11-15 |
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| 中文摘要:目前，水下自主机器鱼已经被应用于对水域多个目标点依次进行水质监测，因此有必要研究多个目标点的路径规划。针对遍历多个目标点的路径规划问题，提出一种Multi-Direction Fast Marching（MDFM）方法和遗传算法相结合的路径规划方法。该方法首先使用MDFM方法对工作站和多个目标点两两之间进行路径规划，然后使用遗传算法规划出遍历所有点的最短路径，最后通过仿真实验验证算法的可行性。 |
| 中文关键词:机器鱼 路径规划 多目标点 Fast Marching |
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| Research on Multi-target Path Planning Based on Fast Marching Method |
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| Abstract:This paper proposed a new path planning method by combining Multi-Direction Fast Marching (MDFM) method and genetic algorithm (GA) to resolve the multi-targets path planning for autonumous underwater robotic fish to monitor the water quality. First, MDFM method was used to plan the point-to-point path among multiple targets; second the final optimal path to travel all the targets was planned by GA; at last, the simulation experiment shows that our method is feasible. |
| keywords:robotic fish path planning multi-target fast marching |
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