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A Collision-Free Planning and Control Framework for a Biomimetic Underwater Vehicle in Dynamic Environments

文献类型：期刊论文

作者Lv, Jiaqi2,3,4; Wang, Yu2,3; Wang, Shuo1,2,3,4; Bai, Xuejian2,3,4; Wang, Rui2,3; Tan, Min2,3,4
刊名IEEE-ASME TRANSACTIONS ON MECHATRONICS
出版日期2022-12-08
页码10
ISSN号1083-4435
关键词Arctangent nonsingularity terminal sliding mode (ANTSM) control biomimetic underwater vehicle (BUV) collision-free in dynamic environments fuzzy artificial potential field (FAPF) planning
DOI10.1109/TMECH.2022.3224606
通讯作者Wang, Yu(yu.wang@ia.ac.cn)
英文摘要In this article, a collision-free planning and control framework for a biomimetic underwater vehicle (BUV) in dynamic environments is presented. It consists of obstacle avoidance planning, arctangent nonsingularity terminal sliding mode (ANTSM) control, and fuzzy inference. A fuzzy artificial potential field with a velocity component is designed for obstacle avoidance planning. An ANTSM controller with an arctangent function is proposed to guarantee a shorter convergence time of system states. The stability of the system is analyzed by the Lyapunov theory. A fuzzy inference module is given to construct the nonlinear relationship between the control parameters of the flippers and force/torque. Finally, comparative simulations, robot operating system-based simulations, and underwater obstacle avoidance experiments of the BUV in a swimming pool are conducted to validate the performance of the proposed collision-free planning and control algorithm.
WOS关键词SLIDING-MODE CONTROL ; ROBOTIC FISH ; OBSTACLE AVOIDANCE ; CONTROL SCHEME ; TRACKING ; SYSTEMS
资助项目Beijing Natural Science Foundation[4222055] ; National Natural Science Foundation of China[62122087] ; National Natural Science Foundation of China[62073316] ; National Natural Science Foundation of China[U1806204] ; National Natural Science Foundation of China[62033013] ; Scientific Research Program of Beijing Municipal Commission of Education-Natural Science Foundation of Beijing[KZ202210017024] ; Beijing Nova Program[Z211100002121152] ; Young Elite Scientist Sponsorship Program by CAST[YESS20210236]
WOS研究方向Automation & Control Systems ; Engineering
语种英语
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号WOS:000899992600001
资助机构Beijing Natural Science Foundation ; National Natural Science Foundation of China ; Scientific Research Program of Beijing Municipal Commission of Education-Natural Science Foundation of Beijing ; Beijing Nova Program ; Young Elite Scientist Sponsorship Program by CAST
源URL[http://ir.ia.ac.cn/handle/173211/50988]  
专题智能机器人系统研究
自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Wang, Yu
作者单位1.CAS Ctr Excellence Brain Sci & Intelligence Techno, Shanghai 200031, Peoples R China
2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
3.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
4.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式
GB/T 7714		 Lv, Jiaqi,Wang, Yu,Wang, Shuo,et al. A Collision-Free Planning and Control Framework for a Biomimetic Underwater Vehicle in Dynamic Environments[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2022:10.
APA Lv, Jiaqi,Wang, Yu,Wang, Shuo,Bai, Xuejian,Wang, Rui,&Tan, Min.(2022).A Collision-Free Planning and Control Framework for a Biomimetic Underwater Vehicle in Dynamic Environments.IEEE-ASME TRANSACTIONS ON MECHATRONICS,10.
MLA Lv, Jiaqi,et al."A Collision-Free Planning and Control Framework for a Biomimetic Underwater Vehicle in Dynamic Environments".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2022):10.

入库方式： OAI收割

来源：自动化研究所

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