Research On Path Planning Of Hull Decontamination Robot Based On Q-Learning
Liu Xueli, Zhenqiu Yao, Baigong Wu, Ling Hongjie, Zhu Lei, Junjie Zhang · 2020
Aiming at the problems of monitoring the running environment of the underwater decontamination robot and receiving data in real time, it is inevitable to develop a human-computer interaction interface with remote monitoring function. The design addresses the problem of remote monitoring of hull decontamination robots. Taking STM32 microcontroller as the control core, and the operation monitoring interface written in python language is used to monitor the working environment and robot posture of the decontamination robot in real time. The remote operation robot has the characteristics of simple structure, convenient operation and intuitive display effect. In addition, it studies the path planning of a hull decontamination robot in a multi-obstacle environment, uses the Q-Learning algorithm to learn the collision avoidance behavior of the robot, and conducts simulation experiments.