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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Zusammenfassung: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.
Bibliographie:ObjectType-Article-1
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ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2023.3342304