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

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

A dynamic path-planning algorithm based on a general constrained optimization problem (GCOP) model and a sequential quadratic programming (SQP) method with sensor input is proposed in this paper. In an unknown underwater space, the turtle-inspired amphibious spherical robot (ASR) can realise the pat...

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Bibliographic Details
Main Authors: Liang Zheng, You Tang, Shuxiang Guo, Yuke Ma, Lijin Deng
Format: Article
Language:English
Published: MDPI AG 2022-12-01
Series:Micromachines
Subjects:
amphibious spherical robots
path planning
thruster evaluation
underwater motion
diamond parallel leg
Online Access:https://www.mdpi.com/2072-666X/13/12/2130

Internet

https://www.mdpi.com/2072-666X/13/12/2130

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