View in EDS

Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments.

Saved in:
Bibliographic Details
Title: Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments.
Authors: Kelasidi, Eleni1, Liljeback, Pal1, Pettersen, Kristin Y.1, Gravdahl, Jan Tommy2
Source: IEEE Transactions on Robotics. Jun2017, Vol. 33 Issue 3, p610-628. 19p.
Subjects: Robot control systems, Robotics in oceanography, Underwater exploration, Programmable controllers, Feedback control systems, Poincare maps (Mathematics)
Abstract: This paper proposes and experimentally validates a straight line path following controller for underwater snake robots in the presence of constant irrotational currents of unknown direction and magnitude. An integral line-of-sight guidance law is presented, which is combined with a sinusoidal gait pattern and a directional controller that steers the robot toward and along the desired path. The stability of the proposed control scheme in the presence of ocean currents is investigated by using Poincaré map analysis. Simulation results are presented to illustrate the performance of the proposed path following controller for both lateral undulation and eel-like motion. In addition, the performance of the path following controller is investigated through experiments with a physical underwater snake robot. The experimental results show that the proposed control strategy successfully steers the robot toward and along the desired path in the presence of an unknown constant irrotational current in the inertial frame. [ABSTRACT FROM PUBLISHER]
Copyright of IEEE Transactions on Robotics is the property of IEEE and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
Description
Abstract:This paper proposes and experimentally validates a straight line path following controller for underwater snake robots in the presence of constant irrotational currents of unknown direction and magnitude. An integral line-of-sight guidance law is presented, which is combined with a sinusoidal gait pattern and a directional controller that steers the robot toward and along the desired path. The stability of the proposed control scheme in the presence of ocean currents is investigated by using Poincaré map analysis. Simulation results are presented to illustrate the performance of the proposed path following controller for both lateral undulation and eel-like motion. In addition, the performance of the path following controller is investigated through experiments with a physical underwater snake robot. The experimental results show that the proposed control strategy successfully steers the robot toward and along the desired path in the presence of an unknown constant irrotational current in the inertial frame. [ABSTRACT FROM PUBLISHER]
ISSN:15523098
DOI:10.1109/TRO.2017.2651119