Trajectory generation of a micro underwater robot in 3D space considering obstacles by anovel potential function

In this paper, trajectory generation of a micro underwater robot in 3D space is discussed considering obstacles and applying a new and optimum potential function. For this purpose, an algorithm which is based on potential function is proposed. Moreover, in order to pass a planned trajectory, a feedback linearization controller is used to guide the robot. By the use of this method, an underwater robot would be able to predict and pass a safe trajectory by awareness of its own and obstacle's positions. Dynamic equations of 6 DOFs for an underwater robot are proposed and trajectory optimization of a particle considering obstacles in trying to attain a fixed or moving target in 3D coordinate space is discussed. The common potential functions are modified in order to solve the problems of inertial and cycling trap and to increase chance of implementation. Afterward, the proposed optimization method is implemented on robot dynamic model. To this end, the coordinate space is meshed with small cubes. Also, in order to control the robot, feedback linearization controller is used. It is shown that the robot would appropriately reach the planned target by this method.