Path Planning Method for Underwater Robot Fish Based on Global Static and Local Dynamic Fusion
WU Mengyu
ZHANG Yonglin
DAI Lei
LIU Ni
Abstract：Aiming at the problem of path selection of underwater robot fish in three-dimensional obstacle avoidance,a path planning method integrating global static and local dynamic obstacle avoidance is proposed.To obtain the global static planning route,and the speed obstacle method is used to judge the relative position of robot fish and dynamic obstacles in real time to obtain the collision area and safety range.The optimal route for robot fish to navigate safely and stably underwater is obtained.The simula-tion experiment and robot fish platform experiment results show that compared with the path planned by the traditional single algo-rithm,the fused method can obtain a better obstacle avoidance path.
Keywords：autonomous underwater robot fishant colonyspeed obstacle methodpath planning
Publication Date：2025-11-20
Online Publishing Date：2026-01-28(First online date of this platform, not the publication date of the document)
Pages：6( 3115-3119,3138 )