Dynamic Modeling and Hybrid Fireworks Algorithm-Based Path Planning of an Amphibious Robot

The task of path planning in amphibious environments requires additional consideration due to the complexity of the amphibious environments. This paper presents a path planning method for an amphibious robot named “Amphi Robot” with its dynamic constraints considered. First,an explicit dynamic model using Kane's method is presented. The hydrodynamic parameters are obtained through computational fluid dynamics simulations. Furthermore, a path planning method based on a hybrid fireworks algorithm is proposed, combining the fireworks algorithm and bare bones fireworks algorithm, aiming at the amphibious robot's characteristics of multiple motion modes and working environments. The initially planned path is then smoothed using Dubins path under constraints determined by the dynamic model. Simulation reveals that the performance of the hybrid fireworks algorithm approach is better than the fireworks algorithm and bare bones fireworks algorithm is applied separately in the amphibious environment scenarios.