Implementation of Trajectory Tracking for Snake-Like Robot Using Proportional Controller
Control Science and Engineering
Volume 3, Issue 1, June 2019, Pages: 12-19
Received: Jul. 17, 2019;
Accepted: Aug. 19, 2019;
Published: Sep. 2, 2019
Views 924 Downloads 203
Lu Mai, Department of Electronic Engineering, Technological University, Myitkyina, Republic of the Union of Myanmar
Kyaw Zin Latt, Department of Electronic Engineering, Mandalay Technological University, Mandalay, Republic of the Union of Myanmar
Tin Tin Hla, Department of Electronic Engineering, Mandalay Technological University, Mandalay, Republic of the Union of Myanmar
The improvement of rescue robots has been vigorously in perilous surroundings for investigate and rescue processes. The secure genus of mobile robots is called snake-like robot. The paper presents implementation of trajectory tracking for snake-like robot by using Proportional controller. In this work, the frame design of snake-like robot model has been accomplished based on the control function with mathematical geometry. The tracking path for snake-like robot was established with the circular path. And then the estimation between the actual tracking and original path could be analysed with MATLAB programming. In this paper, snake-like robot head position is controlled to converge the desired trajectory tracking. In the control system, the rest of the units are automatically converged to track the path of the preceding units by controlling one unit in the head. The tracking error could be reduced by using Proportional controller. The performances of the tracking paths for snake-like robot were shown in this paper.
Kyaw Zin Latt,
Tin Tin Hla,
Implementation of Trajectory Tracking for Snake-Like Robot Using Proportional Controller, Control Science and Engineering.
Vol. 3, No. 1,
2019, pp. 12-19.
G. Miller, “Snake Robots for Search and Rescue,” In: Neurotechnology for Biomimetic Robots (MIT PressCambridge, MA, USA, 2002) pp. 271–284.
Aksel Andreas Transeth, Kristin Ytterstad Pettersen and and P°al Liljeb; ack, “A survey on snake robot modeling and locomotion”, March 3, 2009.
TetsushiKamegawa, Tatsuhiro Y amasaki, Hiroki Igarashi, and Fumitoshi Matsuno “Development of the Snake-like Rescue Robot KOHGA” 2004, New Orleans, LA April 2004.
T. Takayama and S. Hirose, “Development of “Souryu I & II”—Connected crawler vehicle for inspection of narrow and winding space,” J. Robot. Mech., vol. 15, no. 1, pp. 61–69, 2001.
Masaya Hara, Shogo Satomura, Hiroaki Fukushima, Tetsushi Kamegawa, Hiroki Igarashi and Fumitoshi Matsuno, ‘Control of a Snake-like Robot Using the Screw Drive Mechanism, 2007 IEEE International Conference on Robotics and Automation Roma, Italy, 10-14 April 2007.
K. Suzumori, S. Wakimoto, and M. Takata, “A miniature inspection robot negotiating pipes of widely varying diameter,” in Proc. IEEE Int. Conf. Robot. Autom. 2003, pp. 2736–2740.
A. Kuwada, S. Wakimoto, K. Suzumori, and Y. Adomi, “Automatic pipe negotiation control for snake-like robot,” in Proc. IEEE/ASME Int. Conf. Adv. Intell. Mechatron. 2008, pp. 558–563.
F. Matsuno and K. Mogi, “Redundancy controllable system and controlof snake robots based on kinematic model,” in Proc. IEEE Conf. Decis. Control, 2000, pp. 4791–4796.
S. Ma, “Analysis of creeping locomotion of a snake-like robot,” Adv. Robot., vol. 15, no. 2, pp. 205–224, 2001.
M. Saito, M. Fukaya, and T. Iwasaki, “Serpentine locomotion withrobotic snakes,” IEEE Control Syst. Mag., vol. 22, no. 1, pp. 64–81, Feb. 2002.
T. Kamegawa and F. Matsuno, “Proposition of twisting mode of locomotion and GA based motion planning for transition of locomotion modes of 3-dimensional snake-like robot,” in Proc. IEEE Int. Conf. Robot. Autom. 2002, pp. 1507–1512.
A. A. Transeth, R. I. Leine, C. Glocker, K. Y. Pettersen, and P. Lil Liljeb ack, “Snake robot obstacle-aided locomotion modeling, simulations, and experiments,” IEEE Trans. Robot., vol. 24, no. 1, pp. 88–104, Feb. 2008.
R. L. Hatton and H. Choset, “Generating gaits for snake robots: Annealed chain fitting and keyframe wave extraction,” Auton. Robot. vol. 28, pp. 271–281, 2010.
X. Wu and S. Ma, “Adaptive creeping locomotion of a CPG-controlled snake-like robot to environment change,” Auton. Robot. vol. 28, pp. 283–294, 2010.
P. Liljeb¨ack, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, “Controllability and stability analysis of planar snake robot locomo tion,”IEEE Trans. Automat. Contr., vol. 56, no. 6, pp. 1365–1380, Jun. 2011.