Paper Info
Title
Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator.
Abstract
This work investigates locomotion efficiency optimization and adaptive path following of snake-like robots in a complex environment. To optimize the locomotion efficiency, it takes energy consumption and forward velocity into account to investigate the optimal locomotion parameters of snake-like robots controlled by a central pattern generator (CPG) controller. A cuckoo search (CS) algorithm is applied to optimize locomotion parameters of the robot for environments with variable fractions and obstacle distribution. An adaptive path following method is proposed to steer the snake-like robot forward and along a desired path. The efficiency and accuracy of the proposed path following method is researched. In addition, a control framework that includes a CPG network, a locomotion efficiency optimization algorithm, and an adaptive path following method is designed to control snakelike robots move in different environments. Simulation and experimental results are presented to illustrate the performance of the proposed locomotion optimization method and adaptive path following controller for snake-like robots in complexity terrains.
Year
DOI
Venue
2019
10.1155/2019/8030374
COMPLEXITY
Field
DocType
Volume
Obstacle,Control theory,Control theory,Terrain,Path following,Cuckoo search,Robot,Central pattern generator,Energy consumption,Mathematics
Journal
2019.0
ISSN
Citations 
PageRank 
1076-2787
2
0.36
References 
Authors
12
4
Name
Order
Citations
PageRank
Cao Zhengcai14216.38
zhang dong232.07
Biao Hu3299.98
Jinguo Liu46218.41