Path Optimization Method of Autonomous Intelligent Obstacle Avoidance for Multi-joint Submarine Robot

• DOI: 10.2112/si82-041.1
• Publication Date: 2018-11-16T22:29:42Z
• Authors: Peng An
• Keywords: Obstacle avoidance

An, P., 2018. Path optimization method of autonomous intelligent obstacle avoidance for multi-joint submarine robot. In: Ashraf, M.A. and Chowdhury, A.J.K. (eds.), Coastal Ecosystem Responses to Human Climatic Changes throughout Asia.A robot could not avoid obstacles in real time under the complex environment seafloor. To address this problem, a path by was proposed. First, kinematic analysis carried out. The joint space interpolation algorithm used trajectory planning its robotic arm. partial identification samples at starting point target part were set. A similarity matrix assigning unlabeled samples, all labeled given support vector machine. genetic optimize parameters machines. experimental result shows that proposed realizes requirement real-time is shortest.