Research on Collision Avoidance Method for Underwater Robot Based on Role

Abstract

Based on URWPGSim2D simulation robot fish platform, the collision problem of fish collaboration often occurs in the process of completing the simulation project. In this paper, a collision avoidance method for underwater robot based on role is studied. The robot fish that is about to collide is divided into two parts, the right fish and the duty fish, and the right fish continues to move in the original direction while the duty fish avoids the right fish by deflecting a certain angle, and then goes to the original direction after deflection. In this paper, the collision of robot fish is divided into two cases and the collision avoidance algorithm is designed and implemented respectively. The experimental results indicate that the collision avoidance algorithm based on role for underwater robot achieves the effect of fast collision avoidance. This algorithm can not only be applied to the robot fish, but also can be applied to ship water collision avoidance and other anti-collision applications, which has high expansibility.