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A study of Nonlinear Model Predictive Control (NMPC) for snake robot path following

A study of Nonlinear Model Predictive Control (NMPC) for snake robot path following

Category
Part of a book/report
Abstract
This paper considers Nonlinear Model Predictive Control (NMPC) in the context of snake robot locomotion. NMPC is an optimal control technique that offers the ability of handling constraints although requiring relatively significant computational resources. In detail, we show how NMPC can be applied to achieve straight line path following control of snake robots. The paper presents simulation results which illustrate the performance of the proposed control approach. Moreover, we discuss advantages and disadvantages of NMPC as a control approach for snake robots.
Client
  • Norges forskningsråd / 205622
Language
English
Affiliation
  • SINTEF ICT / Anvendt kybernetikk
  • Norwegian University of Science and Technology
Year
2014
Publisher
IEEE conference proceedings
Book
Proceedings of The 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014, Bali, Indonesia, 5-10 December, 2014
ISBN
978-1-4799-7396-5
Page(s)
568 - 573