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Experimental investigation of a path following controller for planar snake robots

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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Category

Academic chapter

Language

English

Author(s)

  • Pål Liljeback
  • Idar Ulvestad Haugstuen
  • Kristin Ytterstad Pettersen

Affiliation

  • SINTEF
  • Norwegian University of Science and Technology

Year

2010

Publisher

IEEE (Institute of Electrical and Electronics Engineers)

Book

Proceedings / 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010)

ISBN

9781424478149

Page(s)

2325 - 2332

View this publication at Norwegian Research Information Repository