Design of Obstacle Avoidance Algorithm for Submarine Intelligent Robot

Abstract

ABSTRACT Lu, G. and Liu, D., 2019. Design of obstacle avoidance algorithm for submarine intelligent robot. In: Hoang, A.T. and Aqeel Ashraf, M. (eds.), Research, Monitoring, and Engineering of Coastal, Port, and Marine Systems. Journal of Coastal Research, Special Issue No. 97, pp. 162–169. Since the obstacle avoidance algorithm of traditional submarine intelligent robot has the problems of long running time and large energy consumption, the obstacle avoidance algorithm based on motion balance point is proposed to save related problems. According to the mission and operation mode of the submarine robot, the modular idea is introduced to design the hybrid architecture of the submarine intelligent robot, and the three motion models of uniform speed, uniform acceleration and Singer are analyzed. Singer-Husa adaptive Kalman filter is used to sense the position and velocity of dynamic obstacles. At the same time, the local obstacle avoidance planning, control and hydrodynamics of the submarine robot are combined to make the obstacle avoidance strategy can reflect its ability to dynamics avoid obstacles. According to the speed information of the submarine robot, the warning safety distance is calculated to model the motion balance point of each freedom degree of the robot, and the submarine robot speed and voltage are introduced into the obstacle avoidance strategy. The experimental results show that the proposed algorithm has shorter running time and lower energy consumption.