Path Optimization Method for the Spherical Underwater Robot in Unknown Environment
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Journal of Bionic Engineering http://www.springer.com/journal/42235
Path Optimization Method for the Spherical Underwater Robot in Unknown Environment Jian Guo1, Chunying Li1,2, Shuxiang Guo1,2* 1. Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory, Tianjin University of Technology, Tianjin 300384, China 2. Department of Intelligent Mechanical Systems Engineering, Faculty of Engineering, Kagawa University, Takamatsu 761-0396, Japan
Abstract One of the major respects of the autonomous capability of underwater robots in unknown environment is to be capable of global path planning and obstacles avoiding when encountering abrupt events. For the Spherical Underwater Robot (SUR) to fulfill autonomous task execution, this paper proposed a novel fuzzy control method that incorporates multi-sensor technology to guide underwater robots in unknown environment. To attain the objective, a SUR we designed is used to design the controller. According to its kinematic model, the safety distance was calculated and sensors (US1000-21A) were arranged. The novel fuzzy control method was then explored for robot’s path planning in an unknown environment through simulation. The simulation results demonstrate the capability of the proposed method to guide the robot, and to generate a safe and smooth trajectory in an unknown environment. The effectiveness of the proposed method was further verified through experiments with a SUR in a real platform. The real environment experiments by using the novel fuzzy control method were compared with the basic control method. The experimental results show that in unknown environments, the proposed method improves the execution efficiency and flexibility of the SUR. Keywords: path planning, fuzzy control, spherical underwater robot, unknown environment Copyright © Jilin University 2020.
1 Introduction Currently, the path planning and autonomous navigation of underwater robots have been widely used in water patrol, military reconnaissance, and pipeline inspection scenarios[1,2]. However, most environments are dynamic and unknown when the robot is performing tasks, and the mathematical model of the robot cannot be accurately constructed[3,4]. This paper, therefore, attempts to improve the efficiency and stability of the Spherical Underwater Robot (SUR) we designed to work in unknown environments. Based on the multisensor technology and kinematic model of the SUR, a novel fuzzy control method is proposed. In recent years, many researches have been carried out on path planning, which is becoming a hot topic in the field of robotics[5,6]. Ma et al. proposed a path planning method based on the ant colony algorithm[7], which combines multi-constrained features, but does not consider the unknown environments. Duan et al. proposed a *Corresponding author: Shuxiang Guo E-mail: [email protected]
real-time path planning method for AUV based on fuzzy control[8,9], and the detection range of the sensor is limited. Chen et al. studied the path tracking prob
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