Optimal Path Following Control With Efficient Computation for Snake Robots Subject to Multiple Constraints and Unknown Frictions

• Published in: IEEE robotics and automation letters Vol. 7; no. 4; pp. 9151 - 9158
• Main Authors: Li, Xiaohan, Ren, Chao, Ma, Shugen
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.10.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Acceleration; Biologically-inspired robots; Computational modeling; Constraint modelling; Double integrators; Dynamic models; Environment models; Friction; motion control; Optimization; Predictive control; Predictive models; Real-time systems; Robots; Robust control; Sideslip; Snake robots; State observers; Trajectory planning

This letter proposes a real-time optimal robust path following control scheme for planar snake robots without sideslip constraints using model predictive control (MPC). One of the features is that a linear double-integrator model rather than the complex dynamic model of snake robots is used for the...