Application of A star algorithm in amphibious hull cleaning robot
Qiyue Wang, Qiang Fu, Yi Zhang, Lingxiao Li, Haoran Han, Jinliang Yin, Zhe Hao · 2022 IEEE International Conference on Mechatronics and Automation (ICMA) · 2022
Ships sailing in the sea for a long time, the bottom of the ship will be attached to many creatures, resulting in slower and slower sailing speed, there is a certain security risks. This paper studies an amphibious hull cleaning robot, which can clean the bottom of the ship and store the bottom condition for professional inspection. Thus, the cost of ship cleaning and maintenance can be reduced and the safety of personnel can be improved. In this paper, A-Star algorithm is proposed to solve the path planning problem of the robot.