Trajectory Planning Method for Underwater Mobile Robot in Nuclear Power Plant

Regularly inspect of underwater pinholes widely distributed among nuclear power equipments has became an important initiative to ensure the safety of nuclear power operation. In response to the problems of unreachable target point and insufficient obstacle avoidance ability of the current underwater operation robot, a local path planning algorithm based on Fuzzy Adaptive Dynamic Window Approach (FADWA) is proposed. The mathematical model is constructed based on the traditional dynamic window approach, and the coupling between the obstacle avoidance ability of the mobile robot and the reachability of the target point is solved by combining the fuzzy control with the dynamic window approach to realize the adaptive model weights. The simulation experiments results show that this local path planning algorithm enhances the environmental adaptability of the underwater mobile robot, and improves the obstacle avoidance ability and target reachability.