A Novel Path Control Algorithm for Networked Underwater Robot
Joint Authors
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-7, 7 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-07-02
Country of Publication
Egypt
No. of Pages
7
Main Subjects
Abstract EN
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 the NURBS (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.
American Psychological Association (APA)
She, Minghong& Tian, Liyu. 2018. A Novel Path Control Algorithm for Networked Underwater Robot. Journal of Robotics،Vol. 2018, no. 2018, pp.1-7.
https://search.emarefa.net/detail/BIM-1197753
Modern Language Association (MLA)
She, Minghong& Tian, Liyu. A Novel Path Control Algorithm for Networked Underwater Robot. Journal of Robotics No. 2018 (2018), pp.1-7.
https://search.emarefa.net/detail/BIM-1197753
American Medical Association (AMA)
She, Minghong& Tian, Liyu. A Novel Path Control Algorithm for Networked Underwater Robot. Journal of Robotics. 2018. Vol. 2018, no. 2018, pp.1-7.
https://search.emarefa.net/detail/BIM-1197753
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197753