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A Collision-Free Planning and Control Framework for a Biomimetic Underwater Vehicle in Dynamic Environments | |
Lv, Jiaqi1,2,3; Wang, Yu2,3; Wang, Shuo1,2,3,4; Bai, Xuejian1,2,3; Wang, Rui2,3; Tan, Min1,2,3 | |
发表期刊 | IEEE-ASME TRANSACTIONS ON MECHATRONICS |
ISSN | 1083-4435 |
2023-06 | |
卷号 | 28期号:3页码:1415 - 1424 |
摘要 | In this article, a collision-free planning and control framework for a biomimetic underwater vehicle (BUV) in dynamic environments is presented. It consists of obstacle avoidance planning, arctangent nonsingularity terminal sliding mode (ANTSM) control, and fuzzy inference. A fuzzy artificial potential field with a velocity component is designed for obstacle avoidance planning. An ANTSM controller with an arctangent function is proposed to guarantee a shorter convergence time of system states. The stability of the system is analyzed by the Lyapunov theory. A fuzzy inference module is given to construct the nonlinear relationship between the control parameters of the flippers and force/torque. Finally, comparative simulations, robot operating system-based simulations, and underwater obstacle avoidance experiments of the BUV in a swimming pool are conducted to validate the performance of the proposed collision-free planning and control algorithm. |
关键词 | Arctangent nonsingularity terminal sliding mode (ANTSM) control biomimetic underwater vehicle (BUV) collision-free in dynamic environments fuzzy artificial potential field (FAPF) planning robots |
DOI | 10.1109/TMECH.2022.3224606 |
关键词[WOS] | SLIDING-MODE CONTROL ; ROBOTIC FISH ; OBSTACLE AVOIDANCE ; CONTROL SCHEME ; TRACKING ; SYSTEMS |
收录类别 | SCI |
语种 | 英语 |
资助项目 | Beijing Natural Science Foundation[4222055] ; National Natural Science Foundation of China[62122087] ; National Natural Science Foundation of China[62073316] ; National Natural Science Foundation of China[U1806204] ; National Natural Science Foundation of China[62033013] ; Scientific Research Program of Beijing Municipal Commission of Education-Natural Science Foundation of Beijing[KZ202210017024] ; Beijing Nova Program[Z211100002121152] ; Young Elite Scientist Sponsorship Program by CAST[YESS20210236] |
项目资助者 | Beijing Natural Science Foundation ; National Natural Science Foundation of China ; Scientific Research Program of Beijing Municipal Commission of Education-Natural Science Foundation of Beijing ; Beijing Nova Program ; Young Elite Scientist Sponsorship Program by CAST |
WOS研究方向 | Automation & Control Systems ; Engineering |
WOS类目 | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
WOS记录号 | WOS:000899992600001 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 水下仿生机器人 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/50989 |
专题 | 多模态人工智能系统全国重点实验室_智能机器人系统研究 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Wang, Yu |
作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 4.CAS Ctr Excellence Brain Sci & Intelligence Techno, Shanghai 200031, Peoples R China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Lv, Jiaqi,Wang, Yu,Wang, Shuo,et al. A Collision-Free Planning and Control Framework for a Biomimetic Underwater Vehicle in Dynamic Environments[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023,28(3):1415 - 1424. |
APA | Lv, Jiaqi,Wang, Yu,Wang, Shuo,Bai, Xuejian,Wang, Rui,&Tan, Min.(2023).A Collision-Free Planning and Control Framework for a Biomimetic Underwater Vehicle in Dynamic Environments.IEEE-ASME TRANSACTIONS ON MECHATRONICS,28(3),1415 - 1424. |
MLA | Lv, Jiaqi,et al."A Collision-Free Planning and Control Framework for a Biomimetic Underwater Vehicle in Dynamic Environments".IEEE-ASME TRANSACTIONS ON MECHATRONICS 28.3(2023):1415 - 1424. |
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