Direction Control and Adaptive Path Following of 3-D Snake-Like Robot Motion
Direction Control and Adaptive Path Following of 3-D Snake-Like Robot Motion
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DOI：
10.1109/tcyb.2021.3055519
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发表时间：
2021-03-30
影响因子：
11.8
通讯作者：
Zhou, MengChu
中科院分区：
文献类型：
--
作者：
Cao, Zhengcai;Zhang, Dong;Zhou, MengChu
这项工作研究了 3D 蛇形机器人的方向控制和路径跟踪。为了准确控制此类机器人，本文研究了其俯仰关节相位偏移与方向之间的关系。基于这些关系，提出了一种新的机器人方向控制方法。提出一种基于视线制导律的自适应路径跟随算法，并结合方向控制方法来引导机器人沿着期望的路径前进。仿真和实验结果展示了所提出的 3D 模型和控制方法的性能。它们远远优于经典且常用的路径跟踪方法。
This work investigates direction control and path following of a 3-D snake-like robot. In order to control such robots accurately, this work researches the relationships between its phase offsets of pitch joints and directions. A new direction control method is proposed for the robot based on these relationships. An adaptive path-following algorithm based on the line-of-sight guidance law is proposed and combined with the direction control method to steer the robot to move forward and along desired paths. Simulation and experimental results are presented to demonstrate the performances of the proposed 3-D model and control methods. They well outperform the classical and commonly used path-following method.