Efficient path planning method for robot used for collecting marine debris

A path planning method for a robot used for collecting marine debris, wherein the robot comprises a processor and a controller, and the processor is connected to the controller;

• and the path planning method comprises:
• traversing, by the processor, all target positions of the marine debris by using a depth-first search (DFS) algorithm to generate a target position sequence;
• determining, by the processor, a target position with a lowest total cost of the all target positions by using a path planning algorithm, and setting, by the processor, the target position with the lowest total cost as a target movement position for the robot;
• and
• controlling, by the controller, the robot to move to the target movement position, and collecting, by the robot, marine debris at the target movement position;
• wherein a formula for the path planning algorithm is as follows:
• f
• ⁡
• (
• G
• i
• )
• =
• g
• ⁡
• (
• G
• i
• )
• +
• h
• ⁡
• (
• G
• i
• )
• +
• p
• ⁡
• (
• G
• i
• )
• where f(Gi) represents a comprehensive priority corresponding to a current position Gi of the robot, the comprehensive priority comprises total costs of the all target positions relative to the current position Gi, g(Gi) represents an actual cost from the current position Gi to a starting position Gs of the robot, h(Gi) represents an estimated cost from the current position Gi to a target position Gk, and p(Gi) represents an adaptive cost from the current position Gi to the target position Gk;
• wherein the adaptive cost is calculated as follows:
• p
• ⁡
• (
• G
• i
• )
• =
• t
• i
• ,
• k
• where ti,k represents travel time of the robot from the current position Gi to the target position Gk.