Collision Avoidance Regulation-Compliant Orientation Guidance and Maneuvering Control Approach for Snake Robots

Snake robots under environments with avoidance constraints hardly track routes such that traditional guidance approaches become infeasible. Motivated by it, this work presents a line-of-sight-guidance virtual-snake-robot integrated scheme for snake robots to track paths and obey collision avoidance...

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Veröffentlicht in:	IEEE transactions on industrial electronics (1982) Jg. 71; H. 9; S. 10955 - 10965
Hauptverfasser:	Xiu, Yang, Deng, Hongbin, Li, Dongfang, Law, Rob, Wu, Edmond Q., Zhu, Limin
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.09.2024 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Actuators Collision avoidance Controllers Disturbance observers Errors Guidance (motion) guidance algorithm Kinematics Maneuvers Marine vehicles path following Path tracking Regulation Robot control Robot dynamics Robots Sliding mode control snake robot Snake robots Stability analysis Turning Vehicle dynamics
ISSN:	0278-0046, 1557-9948
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Abstract	Snake robots under environments with avoidance constraints hardly track routes such that traditional guidance approaches become infeasible. Motivated by it, this work presents a line-of-sight-guidance virtual-snake-robot integrated scheme for snake robots to track paths and obey collision avoidance regulations. Main contributions include the avoidance regulation-compliant kinematics guidance law and finite-time-converged adaptive dynamic controller. In kinematics, a virtual leader is used to optimize nondifferentiable inflection into smooth to provide a jitter-free direction. Considering avoidance constraints, corresponding guidance strategies are innovatively designed for head-on, overtaking, and crossing scenarios to ensure the safety and autonomy of path tracking. In terms of dynamics, maneuvering control is executed by a finite-time disturbance observer-based event-triggered terminal sliding-mode controller. The unmeasured errors and uncertainties are accurately compensated, and input event-triggering rules can reduce the actuator burden. Finally, the stability analysis proves system errors' finite-time convergence, and result validations confirm the performance superiority and feasibility of this method.
AbstractList	Snake robots under environments with avoidance constraints hardly track routes such that traditional guidance approaches become infeasible. Motivated by it, this work presents a line-of-sight-guidance virtual-snake-robot integrated scheme for snake robots to track paths and obey collision avoidance regulations. Main contributions include the avoidance regulation-compliant kinematics guidance law and finite-time-converged adaptive dynamic controller. In kinematics, a virtual leader is used to optimize nondifferentiable inflection into smooth to provide a jitter-free direction. Considering avoidance constraints, corresponding guidance strategies are innovatively designed for head-on, overtaking, and crossing scenarios to ensure the safety and autonomy of path tracking. In terms of dynamics, maneuvering control is executed by a finite-time disturbance observer-based event-triggered terminal sliding-mode controller. The unmeasured errors and uncertainties are accurately compensated, and input event-triggering rules can reduce the actuator burden. Finally, the stability analysis proves system errors' finite-time convergence, and result validations confirm the performance superiority and feasibility of this method.
Author	Li, Dongfang Xiu, Yang Law, Rob Wu, Edmond Q. Deng, Hongbin Zhu, Limin
Author_xml	– sequence: 1 givenname: Yang orcidid: 0000-0001-7265-6891 surname: Xiu fullname: Xiu, Yang email: xiuyang97@bit.edu.cn organization: School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China – sequence: 2 givenname: Hongbin orcidid: 0000-0002-0725-2986 surname: Deng fullname: Deng, Hongbin email: denghongbin@bit.edu.cn organization: School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China – sequence: 3 givenname: Dongfang orcidid: 0000-0001-9863-4172 surname: Li fullname: Li, Dongfang email: lidongfang@fzu.edu.cn organization: School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China – sequence: 4 givenname: Rob orcidid: 0000-0001-7199-3757 surname: Law fullname: Law, Rob email: roblaw@um.edu.mo organization: Asia-Pacific Academy of Economics and Management, University of Macau, Macau, China – sequence: 5 givenname: Edmond Q. orcidid: 0000-0003-1301-9870 surname: Wu fullname: Wu, Edmond Q. email: edmondqwu@sjtu.edu.cn organization: Department of Automation, Shanghai Jiao Tong University, Shanghai, China – sequence: 6 givenname: Limin orcidid: 0000-0003-3194-6731 surname: Zhu fullname: Zhu, Limin email: zhulm@sjtu.edu.cn organization: School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
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SubjectTerms	Actuators Collision avoidance Controllers Disturbance observers Errors Guidance (motion) guidance algorithm Kinematics Maneuvers Marine vehicles path following Path tracking Regulation Robot control Robot dynamics Robots Sliding mode control snake robot Snake robots Stability analysis Turning Vehicle dynamics
Title	Collision Avoidance Regulation-Compliant Orientation Guidance and Maneuvering Control Approach for Snake Robots
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