Wave control: a method of distributed control for repeated unit tentacles
Pavlo Rudakevych · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1999
A method is presented for distributed position control of the tip of a high degree of freedom tentacle. The scheme employs limited communications which occurs only between adjacent degrees of freedom and are distributed as identical processes at joint. An iterative approach to position control allows automatic path planning around obstacles to occur. The resulting system allows complex tasks to be performed with limited computation and sensing resources. The algorithm was used as a basis for locomotion for a mobile robot with four tentacles.