2D Underwater Obstacle Avoidance Control Algorithm Based on IB-LBM and APF Method for a Multi-Joint Snake-Like Robot

In order to study the rapidity and stability of multi-joint snake-like robots in underwater obstacle avoidance, a new underwater obstacle avoidance control algorithm for multi-joint snake-like robots based on the combination of IB-LBM (Immersed Boundary-Lattice Boltzmann Method) and APF (Artificial Potential Field) is proposed in this paper. Firstly, the IB-LBM is used to establish the non-linear flow field model and the fluid-structure coupling model of a multi-joint snake-like robot. Secondly, the 2-D Serpentine curve equation of motions of a multi-joint snake-like robot is improved, and APF method is added to each joint of the robot to control its motion direction, so as to achieve effective obstacle avoidance of the robot in the flow field. Then by MATLAB simulation experiment, influences of different control parameters on obstacle avoidance performance of a multi-joint snake-like robot are analyzed, and the best parameters suitable for obstacle avoidance of a robot are found to improve the rapidity and stability of the whole system. Finally, an underwater obstacle avoidance experiment of a multi-joint snake-like robot is carried out to verify the effectiveness of the proposed control algorithm in real environment.