Obstacle avoidance algorithm based on improved gradient projection method for continuum robot

In view of the obstacle avoidance task of continuum robots in complex space, two obstacle avoidance algorithms are proposed in this paper. The least squares correction of the configuration velocity is obtained by the shortest distance index and the configuration velocity component coefficient index respectively. Based on the gradient projection method, the continuum robot can successfully avoid the static obstacle. Dynamic obstacle avoidance of continuum robots is achieved by dynamically adjusting the scale factor according to the given end operating speed and the appropriate configuration speed component coefficient. The correctness of the two obstacle avoidance algorithms is proved by simulation.