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.
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Xie, Y., Ma, S., He, Y., Cao, Y., Cao, Y., Huang, Q. (2023). Saturation Function and Rule Library-Based Control Strategy for Obstacle Avoidance of Robot Manta. In: Sun, F., Cangelosi, A., Zhang, J., Yu, Y., Liu, H., Fang, B. (eds) Cognitive Systems and Information Processing. ICCSIP 2022. Communications in Computer and Information Science, vol 1787. Springer, Singapore. https://doi.org/10.1007/978-981-99-0617-8_32
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DOI: https://doi.org/10.1007/978-981-99-0617-8_32
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