Dynamic Obstacle Avoidance method for 2D Robot with Underwater Actuator in Velocity Vector Coordinate System
Abstract
With the rapid development of China's industry in recent years, marine operations have gradually become the main task of the marine industry, and navigation safety is particularly important in the marine police. This paper proposes a dynamic obstacle avoidance method for underwater robots in a velocity vector coordinate system as an effective solution to such problems, in view of the shortcomings of traditional obstacle avoidance methods such as low efficiency and inability to adapt to the growing underwater robot environment. With the progress of time, people put forward higher and more comprehensive requirements for obstacle avoidance technology, especially in the field of deep-sea exploration, underwater robots as a new highly intelligent automatic production device has received extensive attention from researchers in various countries. The relationship between velocity and displacement in a high-speed kinematic transformation mechanism is non-linear and is transformed by velocity and acceleration information, so the use of the IRP method to study the control laws of mobile robots is of great practical value. In addition, because the fast instantaneous velocity vector coordinate system is accurate, efficient and easy to implement in practice, we use the angle between velocity and direction to establish a three-dimensional adjustable recursive trajectory equation to describe its motion, and then iterate this equation to obtain the obstacle avoidance method.
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