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Set-based path following and obstacle avoidance for underwater snake robots

Kohl, Anna M; Moe, Signe; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy
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URI
http://hdl.handle.net/11250/2481515
Date
2017
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  • Institutt for teknisk kybernetikk [3518]
  • Publikasjoner fra CRIStin - NTNU [34929]
Abstract
This article presents a set-based guidance strategy for path following with obstacle avoidance for underwater snake robots conducting planar sinusoidal motion. The guidance scheme is designed such that the robot follows a straight path and avoids obstacles on the way by following a circle around them. In order to enable a switching between these two tasks, we generalize a strategy that was introduced for surface vessels, by making the switching condition independent of the dynamics and thus applicable for a larger class of systems. The guidance system is shown to fulfil the control objectives at a kinematic level. We present new test results that validate the set-based guidance scheme for the first time experimentally.
Publisher
Institute of Electrical and Electronics Engineers (IEEE)

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