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- W2776620025 abstract "In this paper, an improved algorithm for particle swarm optimization is proposed for the application of underwater robot in the complex marine environment. Not only did consider to avoid obstacles when path planning, but also considered the current direction and the size effect on the performance of the robot dynamics. The algorithm uses the trunk binary tree structure to construct the path search space and A * heuristic search method is used in the search space to find a evaluation standard path. Then the particle swarm algorithm to optimize the path by adjusting evaluation function, which makes the underwater robot in the current navigation easier to control, and consume less energy." @default.
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- W2776620025 date "2017-12-01" @default.
- W2776620025 modified "2023-09-27" @default.
- W2776620025 title "Path Planning Method in Multi-obstacle Marine Environment" @default.
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- W2776620025 doi "https://doi.org/10.1088/1757-899x/272/1/012003" @default.
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