渔业现代化
››
2026,
Vol. 53
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Issue (1):
144-151.
doi: 10.26958/j.cnki.1007-9580.2026.01.013
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上一篇
基于改进 A∗ 算法的人工智能鱼三维路径规划
宋逸龙1 ,陈明1 ,金擎2 ,张蕾2 ,吴振阳2( 1 上海海洋大学信息学院 ,上海 201306;
2 上海市浦东新区农业农村综合监管事务中心 ,上海 201201)
- 针对人工智能鱼在静态三维水下环境中路径规划存在三 维环境适应性差、路线冗余节点多、运动不 自 然的问题 ,本研究提出一种融合改进 A 算法与贝塞尔曲线优化的路径规划方法 。首先 ,采用切比雪夫启发函数优化空间对角移动的代价计算 ,以提升算法对三 维环境的适应性;其次 ,通过引入基于三 角形网格精确碰撞检测机制保证路径无碰撞 ,并且显著简化路径节点;最后 ,在转向点处采用二次贝塞尔曲线进行局部平滑处理 ,生成符合鱼类游动特性的轨迹 。结果显示 :改进算法在保障路径安全的前提下 ,在静态水下礁石区环境和静态水草与珊瑚区环境中进行测试 ,路径长度平均缩短了 9. 9% ,转折点数显著降低了 71. 5% ,路径平滑度显著提升 ,有效克服了传统 A 算法路径转折多、运动不连贯的缺陷 ,为人工智能鱼提供了高效、逼真的三维运动规划方案。
3D path planning for artificial intelligence fish based on improved A∗algorithm
SONG Yilong1 ,CHEN Ming1 ,JIN Qing2 ,ZHANG Lei2 ,WU Zhenyang2 ( 1 College of Information,Shanghai Ocean University,Shanghai 201306,China; 2 Shanghai Pudong New District Agricultural and Rural Comprehensive Supervision Afairs Center,Shanghai 201201,China)
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- Aiming at the issues of poor three -dimensional environmental adaptability,excessive redundant path nodes,and unnatural movement in path planning for artificial intelligence fish in static three-dimensional underwater environments,this study proposes a path planning method that integrates an improved A algorithm with Bézier curve optimization. Firstly,the Chebyshev heuristic function is adopted to optimize the cost calculation for diagonal movements in three-dimensional space, thereby enhancing the algorithm's adaptability to such environments. Secondly,an accurate collision detection mechanism based on triangular meshes is introduced to ensure collision-free paths while significantly simplifying path nodes. Finally,quadratic Bézier curves are applied at turning points for local smoothing, generating trajectories that align with the swimming characteristics of fish. The results demonstrate that, while ensuring path safety, tests conducted in static underwater environments with rocky areas and seaweed-coral zones show that the improved algorithm reduces the average path length by 9. 9% ,significantly decreases the number of turning points by 71. 5% ,and markedly enhances path smoothness. This approach effectively overcomes the limitations of traditional A algorithms,such as excessive turns and discontinuous motion,providing an efficient and realistic three-dimensional motion planning solution for artificial intelligence fish.
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Online:2026-02-20
Published:2026-02-09
