Path following control of snake robots in unstructured environments
As a step towards enabling snake robots to move in unstructured environments, this paper considers control strategies where environment adaptation is combined with directional control of snake robot locomotion. The first contribution of the paper is a general framework for motion control of snake robots, which allows the motion to be specified in terms of a body wave component, an environment adaptation component, and a heading control component. As a second contribution, we employ the controller framework to propose a control law for straight line path following control of snake robots in environments with obstacles. The paper presents simulation results where the path following controller is combined with a waypoint guidance strategy in order to steer the snake robot between waypoints in an obstacle environment.
P(a)l Liljeb(a)ck Kristin Y. Pettersen (O)vind Stavdahl Jan Tommy Gravdahl
Dept. of Engineering Cybernetics at the Norwegian University of Science and Technology (NTNU),NO-749 Dept. of Engineering Cybernetics at the Norwegian University of Science and Technology (NTNU),NO-749
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
503-510
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）