基于 Fast Marching 方法的多目标点路径规划的研究

摘要

This paper proposed a new path planning method by combining Multi-Direction Fast Marching (MDFM) method and genetic algorithm (GA)to resolve the multi-targets path planning for autonumous underwater robotic fish to mo-nitor the water quality.First,MDFM method was used to plan the point-to-point path among multiple targets;second the final optimal path to travel all the targets was planned by GA;at last,the simulation experiment shows that our method is feasible.%目前，水下自主机器鱼已经被应用于对水域多个目标点依次进行水质监测，因此有必要研究多个目标点的路径规划。针对遍历多个目标点的路径规划问题，提出一种 Multi-Direction Fast Marching (MDFM)方法和遗传算法相结合的路径规划方法。该方法首先使用 MDFM 方法对工作站和多个目标点两两之间进行路径规划，然后使用遗传算法规划出遍历所有点的最短路径，最后通过仿真实验验证算法的可行性。