Path-planning Optimization of Underwater Microrobots in 3-D Space by PSO Approach

摘要：

The paper researches on the problem of Pathplanning and optimization of several underwater microrobots in three-dimensional space by developing a novel spiral particle pathway searching approach and PSO Approach. We propose a kind of novel underwater multimicrorobot system which is consist of a mother submarine and several microrobots with ICPF (Ionic Conducting Polymer Film) actuators. Firstly, we set up the environmental model of robot path-planning in 3-D space, the obstacle be simplified as a solid sphere element and the microrobot be simplified as a particle point. The concept of the Grid Method and a Spiral Particle Pathway Searching Approach are developed and used to search for particles in the pathway in the plane of parallel subspace. MATLAB is used to calculate the particles in order to search the best path to the target points in threedimensional space. DPSO is used to optimize the path of microrobots. At last, we get the optimized pathway of a single microrobot and pathway of three microrobots searching for the target points without collection with each other by using Spiral Particle Pathway Searching Approach and PSO Approach.

关键词： ICPF Actuator Mult-microrobot System pathway searching PSO

作者: Shuxiang Guo Baofeng Gao

作者单位: Harbin Engineering University,150001 P.R.China Faculty of Engineering,Kagawa University,Takamatsu Graduate School of Engineering Kagawa University Hayashi-cho,Takamatsu 761-0396 Japan

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1615-1620

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）