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
N1 - Publisher Copyright:
© 2017 IEEE.
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
UR - http://www.scopus.com/inward/record.url?scp=85050862390&partnerID=8YFLogxK
U2 - 10.1109/ICUS.2017.8278369
DO - 10.1109/ICUS.2017.8278369
M3 - Conference contribution
AN - SCOPUS:85050862390
T3 - Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
SP - 358
EP - 363
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 -
