The invention discloses an immersion boundary control method used for
underwater obstacle avoidance of a multi-joint snake-like
robot, and belongs to the field of
robot control. The implementation method comprises the steps that the lattice Boltzmann method is introduced to replace a traditional Navier-Strokes equation for solving fluid and in second order
partial differential equation simulation,and starting from the angle of probability statistics, the macroscopic and microcosmic relation and the discrete and continuous relation are solved from different angles. The lattice Boltzmann methodis simple in calculation, and parallel realization is easy. When complex boundary conditions are treated, macroscopic and microcosmic conversion can be achieved, a flexible multi-joint snake-like
robot force
source model is set up through an immersion boundary method, Euler variables in a
fluid field are adopted for controlling the fluid dynamic state, the
motion boundary of the multi-joint snake-like robot is controlled through the Lagrange variable of the force
source model, a smooth
Delta approximate function is used for controlling the interaction of nonlinear
fluid field force and the force source boundary through distribution node force and the difference value speed, and
nonlinear control of the multi-joint snake-like robot is achieved.