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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Bibliographic Details
Published in:	IEEE transactions on industrial electronics (1982) Vol. 71; no. 9; pp. 10955 - 10965
Main Authors:	Xiu, Yang, Deng, Hongbin, Li, Dongfang, Law, Rob, Wu, Edmond Q., Zhu, Limin
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.09.2024 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	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
Online Access:	Get full text
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