Two-dimensional obstacle avoidance control algorithm for snake-like robot in water based on immersed boundary-lattice Boltzmann method and improved artificial potential field method

Dongfang Li, Zhenhua Pan, Hongbin Deng*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

12 Citations (Scopus)

Abstract

In order to study the adaptability of a multi-redundancy and multi-degree-of-freedom snake-like robot to underwater motion, a two-dimensional (2-D) obstacle avoidance control algorithm for a snake-like robot based on immersed boundary-lattice Boltzmann method (IB-LBM) and improved artificial potential field (APF) is proposed in this paper. Firstly, the non-linear flow field model is established under the framework of LBM, and the IB method is introduced to establish a fluid solid coupling of a 2-D soft snake-like robot. Then, the obstacle avoidance of a snake-like robot in a flow field is realized by optimizing the curvature equation of the serpentine curve and eliminating the local minimum in APF method. Finally, the effects by exerted different control parameters on a snake-like robot’s obstacle avoidance capability are analyzed via MATLAB simulation experiment, by which we can find the optimal parameter of the obstacle avoidance and testify the validity of the proposed control algorithm.

Original languageEnglish
Pages (from-to)1840-1857
Number of pages18
JournalTransactions of the Institute of Measurement and Control
Volume42
Issue number10
DOIs
Publication statusPublished - 1 Jun 2020

Keywords

  • APF
  • IB-LBM
  • Snake-like robot
  • obstacle avoidance

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Li, D., Pan, Z., & Deng, H. (2020). Two-dimensional obstacle avoidance control algorithm for snake-like robot in water based on immersed boundary-lattice Boltzmann method and improved artificial potential field method. Transactions of the Institute of Measurement and Control, 42(10), 1840-1857. https://doi.org/10.1177/0142331219897992