Dynamic Analysis and Path Planning of a Turtle-Inspired Amphibious Spherical Robot

Area of Science:

• Robotics
• Control Systems
• Underwater Exploration

Background:

• Underwater robots require advanced navigation and collision avoidance in unknown environments.
• Amphibious spherical robots (ASRs) offer unique mobility advantages but need sophisticated control algorithms.

Purpose of the Study:

• To develop a dynamic path-planning algorithm for an ASR in unknown underwater spaces.
• To enable precise motion control and collision avoidance for the ASR.

Main Methods:

• A general constrained optimization problem (GCOP) model and sequential quadratic programming (SQP) were employed for path planning.
• A novel water-jet thruster propulsion model and a modified Denavit-Hartenberg (MDH) algorithm for multiple degrees of freedom (MDOF) were developed.
• Sensor input was integrated for real-time control and adaptation.

Main Results:

• The proposed GCOP and SQP algorithms effectively planned dynamic paths for the ASR.
• The ASR demonstrated collision avoidance and flexible movement capabilities.
• High-precision and high-speed motion control was achieved using the developed propulsion and MDH algorithms.

Conclusions:

• The GCOP and SQP algorithms are effective for ASR path planning in underwater environments.
• The developed propulsion and control algorithms enhance underwater maneuverability with minimal estimation error.
• This research contributes to the advancement of autonomous underwater robotic systems.