dc.contributor.author | Kohl, Anna M | |
dc.contributor.author | Moe, Signe | |
dc.contributor.author | Kelasidi, Eleni | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2018-02-01T14:52:29Z | |
dc.date.available | 2018-02-01T14:52:29Z | |
dc.date.created | 2017-12-15T09:58:36Z | |
dc.date.issued | 2017 | |
dc.identifier.isbn | 978-1-5386-3741-8 | |
dc.identifier.uri | http://hdl.handle.net/11250/2481515 | |
dc.description.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. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | nb_NO |
dc.relation.ispartof | Proceeding of the IEEE International Conference on Robotics and Biomimetics (ROBIO 2017) | |
dc.title | Set-based path following and obstacle avoidance for underwater snake robots | nb_NO |
dc.type | Chapter | nb_NO |
dc.description.version | submittedVersion | nb_NO |
dc.identifier.cristin | 1527811 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_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.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | preprint | |
cristin.qualitycode | 1 | |