Experimental investigation of a path following controller for planar snake robots

Liljeback, Pål; Haugstuen, Idar Ulvestad; Pettersen, Kristin Ytterstad
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http://hdl.handle.net/11250/293060
Date
2010
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Original version
Wen, Changyun [Eds.] Proceedings / 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010) p. 2325-2332, IEEE conference proceedings, 2010   10.1109/ICARCV.2010.5707242
Abstract
This paper considers path following control of snake robots along straight paths. A controller is proposed which, under the assumption that the forward velocity of the snake robot is nonzero and positive, guarantees K-exponential stability of the distance between the snake robot and the desired path and also K-exponential stability of the heading of the robot with respect to the direction of the path. The performance of the path following controller is investigated through experiments with a physical snake robot. The experiments show that the proposed controller successfully steers the snake robot towards and along the desired straight path.
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- Author postprint
Publisher
IEEE
Series
Proceedings / 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010);
Copyright
Institute of Electrical and Electronics Engineers (IEEE)