Research on Escape Strategy of Local Optimal Solution for Underwater Hexapod Robot Based on Energy Consumption Optimization
文献类型：会议论文
| 作者 | Sun YZ(孙英哲)1,3,4,5 ; Zhang QF(张奇峰)1,3,4; Zhang AQ(张艾群)1,3,4; Ma XF(马秀峰)
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| 出版日期 | 2021 |
| 会议日期 | October 22-25, 2021 |
| 会议地点 | Yantai, China |
| 关键词 | Energy consumption Gait Path planning Simulate annealing Underwater hexapod robot |
| 页码 | 688-698 |
| 英文摘要 | Aiming at the local optimal solution problem of artificial potential field method, this paper takes energy consumption as the optimization objective to plan the escape strategy of underwater hexapod robot. The total energy consumption of underwater hexapod robot in three gait and turning gait is solved by establishing the dynamic model of the underwater hexapod robot, and the energy consumption coefficient of the whole robot is planned according to the different steps and different rotation angles of the robot. Simulate annealing method based on energy consumption difference as Metropolis criterion is used to plan the next crawling point. Finally, the correctness of the theory is verified by comparing the total energy consumption of different escape paths through simulation experiments. The simulation results show that the simulate annealing method based on energy consumption optimization can plan the local escape path of the underwater hexapod robot under the constraint of energy consumption, and has good practical application value. © 2021, Springer Nature Switzerland AG. |
| 产权排序 | 1 |
| 会议录 | 2021 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021
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| 会议录出版者 | Springer Science and Business Media Deutschland GmbH |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISSN号 | 0302-9743 |
| ISBN号 | 978-3-030-89097-1 |
| WOS记录号 | WOS:000725394600055 |
| 源URL | [http://ir.sia.cn/handle/173321/29857]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 通讯作者 | Zhang QF(张奇峰) |
| 作者单位 | 1.Key Laboratory of Marine Robotics, Liaoning, Shenyang, 1572000, China 2.College of Information Science and Engineering, Northeastern University, Liaoning, Shenyang, 110819, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China 4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China 5.University of Chinese Academy of Sciences, Beijing, 100049, China |
| 推荐引用方式 GB/T 7714 | Sun YZ,Zhang QF,Zhang AQ,et al. Research on Escape Strategy of Local Optimal Solution for Underwater Hexapod Robot Based on Energy Consumption Optimization[C]. 见:. Yantai, China. October 22-25, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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