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dc.contributor.authorKohl, Anna M
dc.contributor.authorMoe, Signe
dc.contributor.authorKelasidi, Eleni
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2018-02-01T14:52:29Z
dc.date.available2018-02-01T14:52:29Z
dc.date.created2017-12-15T09:58:36Z
dc.date.issued2017
dc.identifier.isbn978-1-5386-3741-8
dc.identifier.urihttp://hdl.handle.net/11250/2481515
dc.description.abstractThis 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.nb_NO
dc.language.isoengnb_NO
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)nb_NO
dc.relation.ispartofProceeding of the IEEE International Conference on Robotics and Biomimetics (ROBIO 2017)
dc.titleSet-based path following and obstacle avoidance for underwater snake robotsnb_NO
dc.typeChapternb_NO
dc.description.versionsubmittedVersionnb_NO
dc.identifier.cristin1527811
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcode© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, 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 component of this work in other works.nb_NO
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpreprint
cristin.qualitycode1


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