Path Planning Method Research And Monitoring Software Design Of Rescue ROV

With the gradual development of Marine undertakings in human society,there are more and more accidents in the ocean.In order to protect the safety of people’s lives and property and to serve the national development strategy,underwater search and rescue work is very important.Underwater robot has become a new underwater rescue tool because of its high safety and deep diving.During search and rescue,search and rescue work are often carried out separately,with the AUV used for search work due to its high freedom characteristics and the ROV responsible for rescue work.However,in the actual search work,the AUV cannot work for a long time due to the problem of battery energy consumption,and the real-time and stable communication cannot be guaranteed due to signal interference in water.ROV and surface ships are connected by umbilical cables,so there is no need to worry about communication and energy consumption.ROV is more efficient in search work.In this thesis,the path planning of the search work in ROV search and rescue mission is studied as follows:Aiming at the problems that common path planning algorithms have low security and smooth path when facing ROV,a two-dimensional path planning method based on JPS-GA is proposed in this thesis.By improving the traditional JPS algorithm and limiting the diagonal pathfinding rules,the path security is improved.By integrating genetic algorithm,genetic operation is improved,path nodes are reduced,and the optimal path is screened out.A Bezier curve is designed to optimize the remaining inflection points and improve the smoothness of the path.The simulation results show that compared with A* algorithm and genetic algorithm,the path inflection point is greatly reduced,the path is smoother,the restriction of diagonal pathfinding rules and the improvement of genetic manipulation can effectively avoid the path close to obstacles,and improve the safety of the path.Aiming at the problem that JPS algorithm is too difficult to search for jump points in 3D environment,a path planning method based on JPS-COSPS is proposed.In this method,the critical barrier(CO)is introduced to simplify the obstacle information.By taking SPS as a feasible jump point in JPS routing process,the difficulty of JPS routing in 3D environment is reduced,and the path security is improved.The path is smoother by removing the inflection point and optimizing the B-spline curve.The simulation results show that,compared with A*algorithm and common 3D ant colony algorithm,the proposed algorithm improves the search speed by more than 70% and the path is safer by screening the surrounding point set.The curve optimization makes the path smoother at the expense of a small amount of path length.Through Qt programming software,the ROV monitoring system platform software is designed to realize real-time monitoring,data attitude display,handle control,data communication,data storage and other functions.By calling Baidu map API and mixed editing with Matlab,map planning function is realized and ROV running path and planning path are displayed in real time,providing a visual interface for ROV path planning experiments.Finally,run test and path planning experiment are carried out.After path planning by the upper computer software,tracking experiments were carried out in the artificial lake.The results showed that the map planning function of the monitoring software could plan a safe and feasible smooth path and accurately display the ROV operating path.Through the threedimensional simulation environment experiment in the software,it is verified that the proposed algorithm can plan the path of shorter length and higher safety for ROV,which has certain feasibility.