Research On Path Planning Of Sea Cucumber Fishing Robot

Whether it's a sea cucumber raised in the sea or in a pond,the current harvest of sea cucumber is to catch sea cucumber one by one through artificial launching.The operating environment of artificial sea cucumber fishing is very bad and the safety of the fishermen is greatly threatened.Based on the successful development of master-slave control sea cucumber fishing robot,this paper studies the path planning of the robot.Considering the characteristics of the fishing operation of sea cucumber,the path planning method and algorithm for traversing the fishing of sea cucumber are designed.According to the parameters of the sea cucumber fishing robot developed by the research group and the working environment of the marine ranch,the submarine topographic map of the marine pasture is constructed based on the electronic chart.The single fishing range of the robot is obtained by calculation,and the bottom topography of the single fishing range is extracted.The grid method is used to carry out the sea bottom environment of the marine ranch and the single fishing range.The model is established and the performance evaluation parameters of the traversal path planning of fishing robots are proposed.In the traversal path planning of sea area,the round-trip traversal algorithm is integrated into A*algorithm,which realized the efficient traversal of the whole marine ranch by the parent ship,and found the launching point of the sea cucumber fishing robot in each fishing area in the marine pasture.For the problem of traversal path planning in the single fishing range in the seabed environment:firstly,in order to solve the problem of high repetition and many turns in the traditional ant colony algorithm,parallel function and turn function are designed to improve the transfer probability function,and the number of turns is introduced into the pheromone incremental model to improve the new rules of pheromone and the self deadlock escape strategy is set.The improved ant colony algorithm is used to simulate the path of the sea cucumber fishing robot in the single fishing range.The results show that the path length is shorter,the number of turns and the repetition rate of the path are smaller.For the local path planning problem in the single fishing range:firstly,the mathematical model,force field model and existing problems of traditional artificial potential field method are discussed.Then,the relative distance between target point and robot is introduced into repulsion function to improve the mathematical model of traditional artificial potential field method.The concept of sub target point and virtual target point and the rules of gravity action are introduced,so that the robot can catch in the primary path planning.The adaptive step adjustment model is designed to solve the step size problem by catching multiple sub target points.Finally,the improved artificial potential field method is used to plan the local path of the real-time fishing path of the sea cucumber fishing robot.The fishing rate of the sea cucumber is 85.417%,and the fishing quantity meets the relevant technical requirements.