dc.contributor.author | Kelasidi, Eleni | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2014-12-14T03:21:39Z | |
dc.date.accessioned | 2016-07-08T13:28:46Z | |
dc.date.available | 2014-12-14T03:21:39Z | |
dc.date.available | 2016-07-08T13:28:46Z | |
dc.date.issued | 2014 | |
dc.identifier.citation | IEEE Mediterranean Conference on Control & Automation 2014 | nb_NO |
dc.identifier.issn | 1934-1776 | |
dc.identifier.uri | http://hdl.handle.net/11250/2396241 | |
dc.description.abstract | In this paper, a waypoint guidance strategy is
proposed for an underwater snake robot. The robot is directed
to follow a path which is derived using path planning
techniques. A first version of the path is derived by the path
planner by using the artificial potential field method for obstacle
avoidance. Afterwards, by subsampling the derived path, a
set of waypoints are chosen along the path. The path is then
defined by interconnecting these waypoints by straight lines.
Secondly, a straight line path following controller is proposed,
to make the underwater snake robot follow the desired path.
Simulation results are presented, illustrating the performance
of the proposed guidance control strategy for both lateral
undulation and eel-like motion. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | IEEE | nb_NO |
dc.title | A waypoint guidance strategy for underwater snake robots | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | |
dc.date.updated | 2014-12-14T03:21:39Z | |
dc.source.pagenumber | 1512 - 1519 | nb_NO |
dc.identifier.doi | 10.1109/MED.2014.6961590 | |
dc.identifier.cristin | 1135506 | |
dc.description.localcode | (c) 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | nb_NO |