Research on Escape Strategy of Local Optimal Solution for Underwater Hexapod Robot Based on Energy Consumption Optimization

Aiming at the local optimal solution problem of artificial potential field method, this paper takes energy consumption as the optimization objective to plan the escape strategy of underwater hexapod robot. The total energy consumption of underwater hexapod robot in three gait and turning gait is solved by establishing the dynamic model of the underwater hexapod robot, and the energy consumption coefficient of the whole robot is planned according to the different steps and different rotation angles of the robot. Simulate annealing method based on energy consumption difference as Metropolis criterion is used to plan the next crawling point. Finally, the correctness of the theory is verified by comparing the total energy consumption of different escape paths through simulation experiments. The simulation results show that the simulate annealing method based on energy consumption optimization can plan the local escape path of the underwater hexapod robot under the constraint of energy consumption, and has good practical application value.