A novel path control algorithm for networked underwater robot

doi:10.1155/2018/1520981

CQUET-IR

	A novel path control algorithm for networked underwater robot
	She, Minghong1,2 ; Tian, Liyu2
	2018
发表期刊	Journal of Robotics
ISSN	1687-9600
EISSN	1687-9619
卷号	2018
摘要	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. © 2018 Minghong She and Liyu Tian.
关键词	Agricultural robots Curve fitting Fluid mechanics Interpolation Rational functions Control accuracy Curve fitting methods Kinematics modeling Network environments Non-uniform rational B-splines Path control methods Static and dynamic obstacles Underwater robots
DOI	10.1155/2018/1520981
收录类别	EI ; ESCI
语种	英语
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000438906200001
出版者	Hindawi Limited, 410 Park Avenue, 15th Floor, 287 pmb, New York, NY 10022, United States
EI入藏号	20183005590784
EI分类号	731.5 Robotics ; 921 Mathematics ; 921.6 Numerical Methods ; 931.1 Mechanics
原始文献类型	Journal article (JA)
出版地	LONDON
引用统计	被引频次[WOS]：0 [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	https://ir.cqcet.edu.cn/handle/39TD4454/3160
专题	重庆电子科技职业大学
作者单位	1.School of Automation, Chongqing University, Chongqing, China; 2.Computer College, Chongqing College of Electronic Engineering, Chongqing, China
第一作者单位	重庆电子科技职业大学
推荐引用方式 GB/T 7714	She, Minghong,Tian, Liyu. A novel path control algorithm for networked underwater robot[J]. Journal of Robotics,2018,2018.
APA	She, Minghong,&Tian, Liyu.(2018).A novel path control algorithm for networked underwater robot.Journal of Robotics,2018.
MLA	She, Minghong,et al."A novel path control algorithm for networked underwater robot".Journal of Robotics 2018(2018).

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She-2018-A Novel Pat（1773KB）	期刊论文	出版稿	开放获取	CC BY-NC-SA	浏览下载
She-2018-A novel pat（1773KB）	期刊论文	出版稿	开放获取	CC BY-NC-SA	浏览下载