Predetermined Path To The End Of Set Tramcar Walking Obstacle Avoidance Planning And Visualization

Aiming at the mining characteristics of deep sea mining vehicle, this text analyzed the technique request of deep sea mining vehicles action and the effect that the environment of sea floor acting on it. Based on fuzzy decision theory, this text have done local planning for deep sea mining vehicle who walk in scheduled path and the visualization of it's action, and the monitor and control software of the mining course of deep sea mining vehicle. This text have made the following research:1 , Analyzing the mining environment of deep sea mining vehicle and the method to collect the environmental information, then gained the key factor who can affect it's walk on sea floor.2 , Setting-up local planning arithmetic for deep sea mining vehicle who walk in scheduled path based on fuzzy decision, and it will decide to across or get around barriers based on barriers' height.3, Based on OpenGL environment, Setting-up the geometry model of deep sea mining vehicle and environment of sea floor.4, Analyzing and studying the visualization of deep sea mining vehicle mining course, designed it's visual three-dimensional canton software. This three-dimensional canton reflect deep sea mining vehicle mining course actually.5 , Designing a experiment system, this text validated and analyzedthe conclusion, gained the foundation for improve the visual software.