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Inventi Impact - Robotics

Articles

  • Inventi:erb/27495/18
    A NOVEL PATH CONTROL ALGORITHM FOR NETWORKED UNDERWATER ROBOT
    Minghong She, Liyu Tian

    Under the network environment, the traditional control method of underwater Robot path has the disadvantages of low control accuracy, large error, and inefficiency.This paper proposes a novel path control method for underwater Robots based on theNURBS (nonuniform rational B-spline, NURBS) curve fitting method, which utilizes a sensor or camera to detect the static and dynamic obstacles, establishes the kinematics model of underwater Robots, gets the target function of rob shortest path, and analyzes underwater Robot constraints. According to the basic fluid mechanics, the resistance of the underwater Robot is determined.The filter function is used to smooth the process, and the NURBS curve fitting method is applied to control the path of the underwater Robot. Experimental results show that the improved method that proved to be practical is superior to the traditional one in the aspect of control time and accuracy.

    How to Cite this Article
    Minghong She and Liyu Tian, “A Novel Path Control Algorithm for Networked Underwater Robot,” Journal of Robotics, vol. 2018, Article ID 1520981, 7 pages, 2018. https://doi.org/10.1155/2018/1520981, https://creativecommons.org/ licenses/by/4.0/.
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