Stepwise Cooperative Trajectory Planning for Multiple BUVs Based on Temporal-Spatial Bezier Curves

doi:10.1109/TIM.2023.3275617

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室

	Stepwise Cooperative Trajectory Planning for Multiple BUVs Based on Temporal-Spatial Bezier Curves
	Wang, Rui 2; Jiang, Tianyu 3; Bai, Ge 4; Wang, Yu 2; Wang, Shuo 2,5; Tan, Min 1
刊名	IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
	2023
卷号	72 页码:14
关键词	Trajectory planning Trajectory Planning Vehicle dynamics Robots Underwater vehicles Real-time systems Bezier curve biomimetic underwater vehicle (BUV) cooperative trajectory planning dynamic obstacle avoidance
ISSN号	0018-9456
DOI	10.1109/TIM.2023.3275617
通讯作者	Wang, Shuo(shuo.wang@ia.ac.cn)
英文摘要	Biomimetic underwater vehicles (BUVs) are important instrumentation in applications such as water quality monitoring and underwater detection. In this article, we study the cooperative trajectory planning problem for multiple BUVs and propose a stepwise trajectory planning algorithm based on the temporal-spatial Bezier curves to enable cooperative formations. We introduce the time variable into the 3-D Bezier curve, designing a 4-D temporal-spatial Bezier curve. Considering the various physical constraints of the BUV, we obtain a smooth and feasible trajectory using particle swarm optimization (PSO) when taking the shortest trajectory distance as the optimization goal. On this basis, we propose a method to perform cooperative trajectory planning and efficient obstacle avoidance replanning for multiple BUVs by integrating the real-time collision avoidance, real-time detection, and underwater complex terrain constraints. We verify the effectiveness of the proposed cooperative planning method through simulation and comparison.
资助项目	National Science and Technology Innovation 2030 Major Project[2022ZD0209600] ; National Natural Science Foundation of China[62276253] ; National Natural Science Foundation of China[62203435] ; National Natural Science Foundation of China[62122087] ; Beijing Natural Science Foundation[4222056] ; Beijing Natural Science Foundation[4222055] ; Beijing Nova Program[Z211100002121152] ; Youth Innovation Promotion Association Chinese Academy of Sciences (CAS)[2020137]
WOS关键词	UNDERWATER VEHICLE
WOS研究方向	Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:001000758600018
资助机构	National Science and Technology Innovation 2030 Major Project ; National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Beijing Nova Program ; Youth Innovation Promotion Association Chinese Academy of Sciences (CAS)
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/53507]
专题	多模态人工智能系统全国重点实验室
通讯作者	Wang, Shuo
作者单位	1.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 3.Univ Sci & Technol Beijing, Inst Adv Engineers, Beijing 100083, Peoples R China 4.Renmin Univ China, BDA Sch, High Sch, Beijing 100176, Peoples R China 5.Chinese Acad Sci, CAS Ctr Excellence Brain Sci & Intelligence Techno, Shanghai 200031, Peoples R China
推荐引用方式 GB/T 7714	Wang, Rui,Jiang, Tianyu,Bai, Ge,et al. Stepwise Cooperative Trajectory Planning for Multiple BUVs Based on Temporal-Spatial Bezier Curves[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2023,72:14.
APA	Wang, Rui,Jiang, Tianyu,Bai, Ge,Wang, Yu,Wang, Shuo,&Tan, Min.(2023).Stepwise Cooperative Trajectory Planning for Multiple BUVs Based on Temporal-Spatial Bezier Curves.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,72,14.
MLA	Wang, Rui,et al."Stepwise Cooperative Trajectory Planning for Multiple BUVs Based on Temporal-Spatial Bezier Curves".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 72(2023):14.