Direction Control and Adaptive Path Following of 3-D Snake-Like Robot Motion
研究了三维蛇形机器人的方向控制与路径跟踪，提出基于俯仰关节相位偏移的方向控制方法和基于视线导引律的自适应路径跟踪算法，仿真和实验验证了其优于经典方法。
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.