2D obstacle avoidance method for snake robot based on modified artificial potential field

Dongfang Li; Zhihao Zhou; Hongbin Deng; Chao Wang; Kewei Li; Chaozheng Wang; Peng Teng

doi:10.1109/ICUS.2017.8278369

2D obstacle avoidance method for snake robot based on modified artificial potential field

Dongfang Li, Zhihao Zhou, Hongbin Deng^*, Chao Wang, Kewei Li, Chaozheng Wang, Peng Teng

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

In order to study 2D obstacle avoidance method of the multi-joint and high redundancy snake robot, a method based on modified artificial potential field is proposed. By combining the advantages of the traditional artificial potential field method, such as simple calculation, fast operation and real-time obstacle avoidance, the correlation correction factor is introduced to solve the problem that snake robot cannot reach the target; the temporary guide point is inserted to solve the local stability problem of snake robot. Through the modified artificial potential field method, the 2D obstacle avoidance method of snake robot with winding gait is studied. Realizing this obstacle avoidance method by MATLAB, the simulation results show that the method can effectively make snake robot avoid the obstacles in 2D space and achieve the target point.

Original language	English
Title of host publication	Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
Editors	Xin Xu
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	358-363
Number of pages	6
ISBN (Electronic)	9781538631065
DOIs	https://doi.org/10.1109/ICUS.2017.8278369
Publication status	Published - 2 Jul 2017
Event	2017 IEEE International Conference on Unmanned Systems, ICUS 2017 - Beijing, China Duration: 27 Oct 2017 → 29 Oct 2017

Publication series

Name	Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
Volume	2018-January

Conference

Conference	2017 IEEE International Conference on Unmanned Systems, ICUS 2017
Country/Territory	China
City	Beijing
Period	27/10/17 → 29/10/17

Keywords

Artificial potential field
Obstacle avoidance
Snake robot

Access to Document

10.1109/ICUS.2017.8278369

Cite this

Li, D., Zhou, Z., Deng, H., Wang, C., Li, K., Wang, C., & Teng, P. (2017). 2D obstacle avoidance method for snake robot based on modified artificial potential field. In X. Xu (Ed.), Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017 (pp. 358-363). (Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUS.2017.8278369

Li, Dongfang ; Zhou, Zhihao ; Deng, Hongbin et al. / 2D obstacle avoidance method for snake robot based on modified artificial potential field. Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017. editor / Xin Xu. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 358-363 (Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017).

@inproceedings{ed22c689b66f41959764303505049357,

title = "2D obstacle avoidance method for snake robot based on modified artificial potential field",

abstract = "In order to study 2D obstacle avoidance method of the multi-joint and high redundancy snake robot, a method based on modified artificial potential field is proposed. By combining the advantages of the traditional artificial potential field method, such as simple calculation, fast operation and real-time obstacle avoidance, the correlation correction factor is introduced to solve the problem that snake robot cannot reach the target; the temporary guide point is inserted to solve the local stability problem of snake robot. Through the modified artificial potential field method, the 2D obstacle avoidance method of snake robot with winding gait is studied. Realizing this obstacle avoidance method by MATLAB, the simulation results show that the method can effectively make snake robot avoid the obstacles in 2D space and achieve the target point.",

keywords = "Artificial potential field, Obstacle avoidance, Snake robot",

author = "Dongfang Li and Zhihao Zhou and Hongbin Deng and Chao Wang and Kewei Li and Chaozheng Wang and Peng Teng",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Unmanned Systems, ICUS 2017 ; Conference date: 27-10-2017 Through 29-10-2017",

year = "2017",

month = jul,

day = "2",

doi = "10.1109/ICUS.2017.8278369",

language = "English",

series = "Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "358--363",

editor = "Xin Xu",

booktitle = "Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017",

address = "United States",

}

Li, D, Zhou, Z, Deng, H, Wang, C, Li, K, Wang, C & Teng, P 2017, 2D obstacle avoidance method for snake robot based on modified artificial potential field. in X Xu (ed.), Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017. Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 358-363, 2017 IEEE International Conference on Unmanned Systems, ICUS 2017, Beijing, China, 27/10/17. https://doi.org/10.1109/ICUS.2017.8278369

2D obstacle avoidance method for snake robot based on modified artificial potential field. / Li, Dongfang; Zhou, Zhihao; Deng, Hongbin et al.
Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017. ed. / Xin Xu. Institute of Electrical and Electronics Engineers Inc., 2017. p. 358-363 (Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - 2D obstacle avoidance method for snake robot based on modified artificial potential field

AU - Li, Dongfang

AU - Zhou, Zhihao

AU - Deng, Hongbin

AU - Wang, Chao

AU - Li, Kewei

AU - Wang, Chaozheng

AU - Teng, Peng

PY - 2017/7/2

Y1 - 2017/7/2

N2 - In order to study 2D obstacle avoidance method of the multi-joint and high redundancy snake robot, a method based on modified artificial potential field is proposed. By combining the advantages of the traditional artificial potential field method, such as simple calculation, fast operation and real-time obstacle avoidance, the correlation correction factor is introduced to solve the problem that snake robot cannot reach the target; the temporary guide point is inserted to solve the local stability problem of snake robot. Through the modified artificial potential field method, the 2D obstacle avoidance method of snake robot with winding gait is studied. Realizing this obstacle avoidance method by MATLAB, the simulation results show that the method can effectively make snake robot avoid the obstacles in 2D space and achieve the target point.

AB - In order to study 2D obstacle avoidance method of the multi-joint and high redundancy snake robot, a method based on modified artificial potential field is proposed. By combining the advantages of the traditional artificial potential field method, such as simple calculation, fast operation and real-time obstacle avoidance, the correlation correction factor is introduced to solve the problem that snake robot cannot reach the target; the temporary guide point is inserted to solve the local stability problem of snake robot. Through the modified artificial potential field method, the 2D obstacle avoidance method of snake robot with winding gait is studied. Realizing this obstacle avoidance method by MATLAB, the simulation results show that the method can effectively make snake robot avoid the obstacles in 2D space and achieve the target point.

KW - Artificial potential field

KW - Obstacle avoidance

KW - Snake robot

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DO - 10.1109/ICUS.2017.8278369

M3 - Conference contribution

AN - SCOPUS:85050862390

T3 - Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017

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BT - Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017

A2 - Xu, Xin

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE International Conference on Unmanned Systems, ICUS 2017

Y2 - 27 October 2017 through 29 October 2017

ER -

Li D, Zhou Z, Deng H, Wang C, Li K, Wang C et al. 2D obstacle avoidance method for snake robot based on modified artificial potential field. In Xu X, editor, Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 358-363. (Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017). doi: 10.1109/ICUS.2017.8278369

2D obstacle avoidance method for snake robot based on modified artificial potential field

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