In this paper, fast path planning of on-water automatic rescue intelligent robot is studied based on the constant thrust artificial fluid method. First, a three-dimensional environment model is established, and then the kinematics equation of the robot is given. The constant thrust artificial fluid method based on the isochronous interpolation method is proposed, and a novel algorithm of constant thrust fitting is researched through the impulse compensation. The effect of obstacles on original fluid field is quantified by the perturbation matrix, and the streamlines can be regarded as the planned path. Simulation results demonstrate the effectiveness of this method by comparing with A-star algorithm and ant colony algorithm. It is proved that the planned path can avoid all obstacles smoothly and swiftly and reach the destination eventually.

中文翻译：

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基于恒推力人工流体法的水上自动救援智能机器人快速路径规划

本文研究了基于恒推力人工流体法的水上自动救援智能机器人快速路径规划。首先建立三维环境模型，然后给出机器人的运动学方程。提出了基于等时插值法的恒推力人工流体法，研究了一种基于脉冲补偿的恒推力拟合新算法。障碍物对原始流体场的影响由扰动矩阵量化，流线可视为规划路径。仿真结果通过与A-star算法和蚁群算法的对比验证了该方法的有效性。事实证明，所规划的路径能够顺利、迅速地避开所有障碍，最终到达目的地。