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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Vydané v:	IEEE transactions on industrial electronics (1982) Ročník 71; číslo 9; s. 10955 - 10965
Hlavní autori:	Xiu, Yang, Deng, Hongbin, Li, Dongfang, Law, Rob, Wu, Edmond Q., Zhu, Limin
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	New York IEEE 01.09.2024 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:	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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