Direction Control and Adaptive Path Following of 3-D Snake-Like Robot Motion
Document Type
Article
Publication Date
10-1-2022
Abstract
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.
Identifier
85103787112 (Scopus)
Publication Title
IEEE Transactions on Cybernetics
External Full Text Location
https://doi.org/10.1109/TCYB.2021.3055519
e-ISSN
21682275
ISSN
21682267
PubMed ID
33784629
First Page
10980
Last Page
10987
Issue
10
Volume
52
Grant
Z191100006119031
Fund Ref
National Natural Science Foundation of China
Recommended Citation
Cao, Zhengcai; Zhang, Dong; and Zhou, Meng Chu, "Direction Control and Adaptive Path Following of 3-D Snake-Like Robot Motion" (2022). Faculty Publications. 2617.
https://digitalcommons.njit.edu/fac_pubs/2617
