2D Underwater Obstacle Avoidance Control Algorithm Based on IB-LBM and APF Method for a Multi-Joint Snake-Like Robot

Li, Dongfang; Pan, Zhenhua; Deng, Hongbin; Teng, Peng

doi:10.1007/s10846-019-01097-9

Cited by 18 publications

(4 citation statements)

References 26 publications

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“…The obstacle avoidance method based on the APF in a static environment is relatively mature due to its simplicity, speed, and ease of implementation, while dynamic obstacle avoidance algorithms in complex environments are not as mature. Currently, the research on DOA methods based on the APF primarily focuses on optimizing traditional APF methods and addressing issues such as local minimum problems; improvement strategies for the APF mainly involve combining it with other algorithms [11][12][13]. Over the past three years, several DOA solutions based on the APF have been proposed, which are summarized in Table 1.…”

Section: Artificial Potential Field Methodsmentioning

confidence: 99%

An Obstacle Avoidance Strategy for AUV Based on State-Tracking Collision Detection and Improved Artificial Potential Field

Li,

Ma,

Cao

et al. 2024

JMSE

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This paper proposes a fusion algorithm based on state-tracking collision detection and the simulated annealing potential field (SCD-SAPF) to address the challenges of obstacle avoidance for autonomous underwater vehicles (AUVs) in dynamic environments. Navigating AUVs in complex underwater environments requires robust autonomous obstacle avoidance capabilities. The SCD-SAPF algorithm aims to accurately assess collision risks and efficiently plan avoidance trajectories. The algorithm introduces an SCD model for proactive collision risk assessment, predicting collision risks between AUVs and dynamic obstacles. Additionally, it proposes a simulated annealing (SA) algorithm to optimize trajectory planning in a simulated annealing potential field (SAPF), integrating the SCD model with the SAPF algorithm to guide AUVs in obstacle avoidance by generating optimal heading and velocity outputs. Extensive simulation experiments demonstrate the effectiveness and robustness of the algorithm in various dynamic scenarios, enabling the early avoidance of dynamic obstacles and outperforming traditional methods. This research provides an accurate collision risk assessment and efficient obstacle avoidance trajectory planning, offering an innovative approach to the field of underwater robotics and supporting the enhancement of AUV autonomy and reliability in practical applications.

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Section: Artificial Potential Field Methodsmentioning

confidence: 99%

An Obstacle Avoidance Strategy for AUV Based on State-Tracking Collision Detection and Improved Artificial Potential Field

Li,

Ma,

Cao

et al. 2024

JMSE

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show abstract

“…Finally, a suitable Lyapunov function is found to verify the asymptotic stability of the controller. This method improves the deficiency of the reference [13,14], which does not verify the stability of the robot trajectory tracking theoretically. To verify the effectiveness of an adaptive trajectory tracking controller of a multi-joint snake robot, experiments are carried out.…”

Section: Introductionmentioning

confidence: 93%

“…It is proved that the Serpentine curve has a higher motion effect than the Serpenoid curve from the perspective of motion efficiency, which makes a contribution to the three-dimensional kinematics modelling of the robots. Reference [13,14] has solved the problem of the fluid-structure coupling obstacle avoidance of a snake robot with the IB-LBM method. This method can realize the trajectory tracking of the robot in underwater obstacle avoidance, but the stability of the trajectory tracking of the robot is not verified theoretically.…”

Section: Introductionmentioning

confidence: 99%

An Adaptive Trajectory Tracking Controller of a Multi-joint Snake Robot Considering Non-holonomic Constraints

Li¹,

Wang²,

Deng³

et al. 2021

Preprint

Self Cite

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Multi-joint snake robot is a vital reconnaissance, surveillance and attack weapon in national defence and military in the future. To study the trajectory tracking problem of a multi-joint snake robot with high redundancy and multi-degree of freedom in the plane, an adaptive trajectory tracking controller of a multi-joint snake robot considering non-holonomic constraints is proposed in this paper. The adaptive trajectory tracking controller replaces unknown parameters in the environment wi t h estimated values, which effectively solves the negative effects caused by uncertain and time-varying environmental parameters in the process of the robot movement and realizes the stability of the controller. Firstly, a new dynamical model of a multi-joint snake robot is established through coordinate transformation. Secondly, the control objective of the controller of the multi-joint snake robot is established. Thirdly, the proposed controller of the multi-joint snake robot is designed by the Backsteppi n g method to realize the control of the joint angle tracking error, link angle tracking error, actuator torque error and motion speed error of the robot. Then, a suitable Lyapunov function is found to verify the stability of the controller. Finally, through the MATLAB simulation and prototype experiment, the motion process of the multi-joint snake robot is observed, the trajectory tracking performance of the robot is analyzed, and the effectiveness of the adaptive trajectory tracking controller is verified.

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“…The development of nonclassical robotic systems has been boosted by the increase in application areas where the use of rigid robotic structures is not feasible [ 1 ]. There exist several problems of this kind, such as endoscopic applications, the manipulation of objects in restricted spaces, the implementation of prosthesis devices, the exploration of closed spaces, and so on [ 2 , 3 ]. The implementation of robotic structures designed based on biological organisms is one of the fields of research that has shown a high capacity to solve these kinds of problems [ 4 , 5 ].…”

Section: Introductionmentioning

confidence: 99%

Snake Robot with Motion Based on Shape Memory Alloy Spring-Shaped Actuators

Cortez,

Sandoval-Chileño,

Lozada-Castillo

et al. 2024

Biomimetics

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This study presents the design and evaluation of a prototype snake-like robot that possesses an actuation system based on shape memory alloys (SMAs). The device is constructed based on a modular structure of links connected by two degrees of freedom links utilizing Cardan joints, where each degree of freedom is actuated by an agonist–antagonist mechanism using the SMA spring-shaped actuators to generate motion, which can be easily replaced once they reach a degradation point. The methodology for programming the spring shape into the SMA material is described in this work, as well as the instrumentation required for the monitoring and control of the actuators. A simplified design is presented to describe the way in which the motion is performed and the technical difficulties faced in manufacturing. Based on this information, the way in which the design is adapted to generate a feasible robotic system is described, and a mathematical model for the robot is developed to implement an independent joint controller. The feasibility of the implementation of the SMA actuators regarding the motion of the links is verified for the case of a joint, and the change in the shape of the snake robot is verified through the implementation of a set of tracking references based on a central pattern generator. The generated tracking results confirm the feasibility of the proposed mechanism in terms of performing snake gaits, as well as highlighting some of the drawbacks that should be considered in further studies.

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2D Underwater Obstacle Avoidance Control Algorithm Based on IB-LBM and APF Method for a Multi-Joint Snake-Like Robot

Cited by 18 publications

References 26 publications

An Obstacle Avoidance Strategy for AUV Based on State-Tracking Collision Detection and Improved Artificial Potential Field

An Obstacle Avoidance Strategy for AUV Based on State-Tracking Collision Detection and Improved Artificial Potential Field

An Adaptive Trajectory Tracking Controller of a Multi-joint Snake Robot Considering Non-holonomic Constraints

Snake Robot with Motion Based on Shape Memory Alloy Spring-Shaped Actuators

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