Research and Simulation of Motion Planning for Underwater Hexapod Robot Based on Improved Artificial Potential Method
文献类型：会议论文
| 作者 | Sun YZ(孙英哲)1,2,3,4 ; Zhang QF(张奇峰)1,2,3; Zhang AQ(张艾群)1,2,3
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| 出版日期 | 2021 |
| 会议日期 | April 16-18, 2021 |
| 会议地点 | Virtual, Beijing, China |
| 关键词 | Artificial potential method Free gait Imaging sonar Turning gait Underwater hexapod robot |
| 页码 | 7-12 |
| 英文摘要 | The obstacle avoidance method and its effect of underwater hexapod robot is one of the important aspects of whether the underwater hexapod robot can work smoothly. As a simple and real-time obstacle avoidance method, artificial potential method has been widely concerned. Based on the improved artificial potential method, the motion planning of underwater hexapod robot is studied in this paper. The three-dimensional information of obstacles in the working area is detected by scanning sonar with orthogonal arrangement, and the obstacles are abstracted into a circle to facilitate the construction of obstacle avoidance model. The improved physical model of artificial potential method is established by optimizing the functional equations of gravitational potential field and repulsive potential field, and the real-time crawling path of the underwater hexapod robot is obtained. On this basis, the realtime crawling path of the underwater hexapod robot is constructed for the realization of obstacle avoidance. Finally, the motion planning effect of the underwater hexapod robot is verified by simulation. The simulation results show that the motion planning of the underwater hexapod robot based on the improved artificial potential method can avoid obstacles well. The path generated is smooth and the crawling efficiency is more efficient. It can make the underwater hexapod robot maintain a safe crawling distance and avoid obstacles to reach the end point smoothly, which has good practical application value. |
| 产权排序 | 1 |
| 会议录 | 2021 6th International Conference on Control and Robotics Engineering, ICCRE 2021
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 978-0-7381-2612-8 |
| 源URL | [http://ir.sia.cn/handle/173321/29154]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 通讯作者 | Sun YZ(孙英哲) |
| 作者单位 | 1.Key Laboratory of Marine Robotics, Liaoning Province, Shenyang 1572000, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 3.Shenyang Institute of Automation, Chinese Academy of Sciences, State Key Laboratory of Robotics, Shenyang 110016, China 4.University of Chinese Academy of Sciences, Beijing 100049, China |
| 推荐引用方式 GB/T 7714 | Sun YZ,Zhang QF,Zhang AQ. Research and Simulation of Motion Planning for Underwater Hexapod Robot Based on Improved Artificial Potential Method[C]. 见:. Virtual, Beijing, China. April 16-18, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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