Disturbance Rejection Target Tracking Control for Snake Robots in the Presence of Obstacles
Nuoxi Li, Yiming Chu, Shanjun Ren, Chaoli Wang, Gang Wang, Peng Li · 2024
In this paper, a collision-free target tracking control approach utilizing guided vector field guidance is proposed. In particular, a synthesized vector field is designed to direct the snake robot toward the target while simultaneously navigating around multiple obstacles. In addition, a saturated guidance law is designed to compute a reference angular velocity to prevent damage to the robot joints. A dynamics control law is designed based on a reduced-order structure-modified expansion state observer to compensate for external disturbances and realize the robust target tracking and tracing control of the snake robot. Simulation results show the effectiveness of the proposed guidance and control method.