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Path Planning for Underwater Robot Based on Improved Artificial Potential Field

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RICAI '22: Proceedings of the 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence

Pages 54 - 57

https://doi.org/10.1145/3584376.3584387

Published: 19 April 2023 Publication History

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Abstract

Artificial potential field is often used for path planning of underwater robots. The artificial potential field is improved for solving the problems of unreachable target and local minimum in this paper. The influence of the ocean current is introduced, and the heading of the underwater robot under the action of the ocean current is deduced. Finally, the feasibility of the improvement is verified by simulation.

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RICAI '22: Proceedings of the 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence

December 2022

1396 pages

ISBN:9781450398343

DOI:10.1145/3584376

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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Association for Computing Machinery

New York, NY, United States

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Published: 19 April 2023

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RICAI 2022

RICAI 2022: 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence

December 16 - 18, 2022

Dongguan, China

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Overall Acceptance Rate 140 of 294 submissions, 48%

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Multi-robot path planning based on improved artificial potential field and fuzzy inference system¹