Saturation Function and Rule Library-Based Control Strategy for Obstacle Avoidance of Robot Manta

Yu Xie, Shumin Ma, Yue He, Yonghui Cao, Yong Cao, Qiaogao Huang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

The abilities to detect and avoid obstacles are the most significant concerns for a robot manta to achieve a safe operation in a complex environment. This paper presents a control strategy of bioinspired robot manta for obstacle avoidance in an unknown environment. In this control strategy, four laser distance sensors are used to acquire the distance from the obstacle to the robot manta. Then, the turning speed is calculated by the saturation function. And the turning direction is depended on the rule library where strategies are developed by possible locations of obstacles. Combining the saturation function and rule library, the robot manta can obtain appropriate motion instructions to avoid obstacles. The experiment results demonstrate that the proposed control strategy worked well and the robot manta can swim freely to avoid a collision.

Original languageEnglish
Title of host publicationCognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers
EditorsFuchun Sun, Angelo Cangelosi, Jianwei Zhang, Yuanlong Yu, Huaping Liu, Bin Fang
PublisherSpringer Science and Business Media Deutschland GmbH
Pages463-473
Number of pages11
ISBN (Print)9789819906161
DOIs
StatePublished - 2023
Event7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022 - Fuzhou, China
Duration: 17 Dec 202218 Dec 2022

Publication series

NameCommunications in Computer and Information Science
Volume1787 CCIS
ISSN (Print)1865-0929
ISSN (Electronic)1865-0937

Conference

Conference7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022
Country/TerritoryChina
CityFuzhou
Period17/12/2218/12/22

Keywords

  • Obstacle avoidance
  • Robot manta
  • Rule library

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