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Research on Escape Strategy of Local Optimal Solution for Underwater Hexapod Robot Based on Energy Consumption Optimization

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Intelligent Robotics and Applications (ICIRA 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13014))

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Abstract

Aiming at the local optimal solution problem of artificial potential field method, this paper takes energy consumption as the optimization objective to plan the escape strategy of underwater hexapod robot. The total energy consumption of underwater hexapod robot in three gait and turning gait is solved by establishing the dynamic model of the underwater hexapod robot, and the energy consumption coefficient of the whole robot is planned according to the different steps and different rotation angles of the robot. Simulate annealing method based on energy consumption difference as Metropolis criterion is used to plan the next crawling point. Finally, the correctness of the theory is verified by comparing the total energy consumption of different escape paths through simulation experiments. The simulation results show that the simulate annealing method based on energy consumption optimization can plan the local escape path of the underwater hexapod robot under the constraint of energy consumption, and has good practical application value.

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Acknowledgment

This work was supported by the Liaoning Province youth top talent project [Grant No. XLYC1807174] and the Independent projects of the State Key Laboratory [Grant No. 2019-Z08].

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Authors and Affiliations

  1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China

    Yingzhe Sun, Qifeng Zhang, Aiqun Zhang & Xiufeng Ma

  2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China

    Yingzhe Sun, Qifeng Zhang, Aiqun Zhang & Xiufeng Ma

  3. Key Laboratory of Marine Robotics, Shenyang, 1572000, Liaoning, China

    Yingzhe Sun, Qifeng Zhang, Aiqun Zhang & Xiufeng Ma

  4. University of Chinese Academy of Sciences, Beijing, 100049, China

    Yingzhe Sun

  5. College of Information Science and Engineering, Northeastern University, Shenyang, 110819, Liaoning, China

    Xiufeng Ma

Authors
  1. Yingzhe Sun
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  2. Qifeng Zhang
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  3. Aiqun Zhang
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  4. Xiufeng Ma
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Corresponding author

Correspondence to Qifeng Zhang .

Editor information

Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Xin-Jun Liu

  2. Tsinghua University, Beijing, China

    Zhenguo Nie

  3. Beihang University, Beijing, China

    Jingjun Yu

  4. Tsinghua University, Beijing, China

    Fugui Xie

  5. Shandong University, Shandong, China

    Rui Song

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Cite this paper

Sun, Y., Zhang, Q., Zhang, A., Ma, X. (2021). Research on Escape Strategy of Local Optimal Solution for Underwater Hexapod Robot Based on Energy Consumption Optimization. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13014. Springer, Cham. https://doi.org/10.1007/978-3-030-89098-8_65

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  • DOI: https://doi.org/10.1007/978-3-030-89098-8_65

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89097-1

  • Online ISBN: 978-3-030-89098-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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