关键词: 导管架, 遥控潜水器, 图论, 组合优化, 路径规划

Abstract: 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．

Key words: jacket, remotely operated vehicle ( ＲOV) , graph theory, combinatorial optimization, path planning