用于导管架全遍历检测的ROV路径规划

导管架平台是海洋油气开发中常使用的平台，但其所处的海洋环境使导管架经常受到流体冲蚀、海水腐蚀等，因此需要定期检查维护。为了缩短ＲOV( Ｒemotely Operated Vehicle) 的行走路程，减少检测维护费用，提高路径规划的智能程度，以惠州油田某型导管架平台为研究对象，针对ＲOV 对导管架进行单面和整体检测两种检测情况，结合图论和组合优化等理论进行了路径规划研究。通过仿真分析得出导管架全遍历的最优路线，所提出的路径规划方法和仿真结果具有较大的理论价值和实际指导意义。

ＲOV Path Planning for Full Traverse Detection of Jacket

The jacket platform is frequently used platforms in the development of marine oil and gas，but its marine environment makes the jacket often subjected to fluid erosion and seawater corrosion，so it is necessary to check and maintain regularly． In order to shorten the walking distance of ＲOV( Ｒemotely Operated Vehicle) ，reduce the cost of detection and maintenance and improve the intelligence level of path planning，a jacket platform in Huizhou Oilfield was selected as the research object． In view of the two detection conditions of the single side and the whole detection of the jacket by ＲOV，the path planning is carried out in combination with the theory of graph theory and combinatorial optimization． The full traverse route of the jacket is obtained through simulation analysis，path planning method and simulation results have great theoretical value and practical significance．