Waypoint guidance control of snake robots

摘要：

This paper considers path following control of snake robots and has two contributions. The first contribution is a description of how a straight line path following controller previously proposed by the authors can be extended to path following of general curved paths. The second contribution of this paper is a waypoint guidance strategy for steering a snake robot along a path defined by waypoints interconnected by straight lines. The waypoint guidance strategy builds on the straight line path following controller previously proposed by the authors. The paper presents simulation results that illustrate the performance of the proposed guidance strategy.

作者: P(a)l Liljeb(a)ck Kristin Y. Pettersen

作者单位: Department of Engineering Cybernetics at the Norwegian University of Science and Technology,NO-7491 Department of Engineering Cybernetics at the Norwegian University of Science and Technology,NO-7491

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 937-944

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）