Multi-objective Point Path Planning for Wind Turbine Waters Based on Bi-RRT and TEB Algorithms
Aiming at the fact that the operation and maintenance ships need to arrive at multiple units to be operated and maintained in turn to carry out wind turbine maintenance work,a method of multi-objective autonomous path planning in wind power waters was proposed.The improved Bi-RRT algorithm was used for global path planning,and the TEB algorithm was used for local path planning.The two algorithms were combined to complete multi-objective autonomous path planning.An allocation mechanism based on uniform probability was introduced to improve Bi-RRT to reduce the redundant search space.The new node guidance strat-egy of the opposite expansion tree was used to enhance the guidance in the sampling process.Finally,the path was further opti-mized by path smoothing.The improved algorithm was used to carry out simulation experiments,and compared with the original al-gorithm,the number of iterations of the improved algorithm was reduced by 50.4%,the solution time was reduced by 11.7%,and the path length was shortened by 30.5%.In addition,a reasonable simulation environment was built in the ROS simulation plat-form,and the results showed that the improved Bi-RRT and TEB fusion algorithm is more superior and reliable than the A∗ algo-rithm in the same map environment.At the same time,the effectiveness and feasibility of the proposed algorithm for multi-objective point path planning are verified by setting multiple task points.The research results can provide a reference for ships to carry out multi-objective autonomous path planning in the process of intelligent wind power operation and maintenance.
offshore wind power O&Mimproved Bi-RRT algorithmTEB algorithmmulti-objective pointspath planning
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