The underwater obstacle avoidance method based on ROS | |
Zhang,Jingguo2; Lu,Zongqing2; Yu,Chunliang1; Shang,Yingda2; Chen,Yuxiang1 | |
刊名 | Journal of Physics: Conference Series |
2023-08-01 | |
卷号 | 2562期号:1页码:1 |
ISSN号 | 1742-6588 |
DOI | 10.1088/1742-6596/2562/1/012052 |
英文摘要 | Abstract To achieve real-time obstacle avoidance for underwater robots, the artificial potential field method can be selected as the obstacle avoidance path planning algorithm. However, this method applies a large attractive force to the underwater robot when it is far from the target point, causing it to collide with obstacles. Additionally, when the underwater robot just enters the repulsion influence zone, the repulsion force that it experiences undergoes an abrupt change, resulting in a non-smooth obstacle avoidance path. Furthermore, developing the obstacle avoidance function based on software platforms such as MATLAB has a long algorithm verification cycle, and it is difficult to transfer the algorithm model to practical scenarios. Therefore, this paper proposes an underwater robot obstacle avoidance method based on ROS. Firstly, a dynamic adjustment factor is introduced into the potential field function of the artificial potential field method to redefine the obstacle influence zone, and an improved artificial potential field method is designed as the obstacle avoidance path planning algorithm for underwater robots. The experiment is conducted on the ROS simulation platform, and the results show that the improved algorithm can solve the two problems existing in the artificial potential field method. Secondly, nodes required for underwater robot obstacle avoidance are established based on the ROS operating system, and the improved artificial potential field method is integrated into the obstacle avoidance path planning node. Finally, the obstacle avoidance experiment of the Bluerov2 underwater robot is conducted in a pool, and the experimental results demonstrate that the proposed method can achieve real-time obstacle avoidance for underwater robots. |
语种 | 英语 |
出版者 | IOP Publishing |
WOS记录号 | IOP:JPCS_2562_1_012052 |
内容类型 | 期刊论文 |
源URL | [http://ir.idsse.ac.cn/handle/183446/10292] |
专题 | 深海工程技术部_深海资源开发研究室 |
作者单位 | 1.Institute of Deep-sea Science and Engineering, Chinese Academy of Sciences, 572000, Sanya, China 2.Tsinghua Shenzhen International Graduate School, Shenzhen, 518071, China |
推荐引用方式 GB/T 7714 | Zhang,Jingguo,Lu,Zongqing,Yu,Chunliang,et al. The underwater obstacle avoidance method based on ROS[J]. Journal of Physics: Conference Series,2023,2562(1):1. |
APA | Zhang,Jingguo,Lu,Zongqing,Yu,Chunliang,Shang,Yingda,&Chen,Yuxiang.(2023).The underwater obstacle avoidance method based on ROS.Journal of Physics: Conference Series,2562(1),1. |
MLA | Zhang,Jingguo,et al."The underwater obstacle avoidance method based on ROS".Journal of Physics: Conference Series 2562.1(2023):1. |
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