Obstacle avoidance of snake robot by switching control constraint
- PDF / 656,421 Bytes
- 6 Pages / 595.276 x 790.866 pts Page_size
- 77 Downloads / 214 Views
ORIGINAL ARTICLE
Obstacle avoidance of snake robot by switching control constraint Yasunobu Hitaka • Toshikazu Yoshitake Masahiro Yokomichi
•
Received: 13 March 2012 / Accepted: 11 June 2012 / Published online: 18 August 2012 ISAROB 2012
Abstract In this paper, we propose an obstacle avoidance method for autonomous locomotion control of a snake robot. The snake robot consists of rigid links, active joints and passive wheels, and can move only by varying its shape. The pass planning for the obstacle avoidance is a complicated problem because the snake robot has many states, control inputs and the under-actuated property. In our proposed method, the snake motion is restricted to a periodic undulate curve (called a serpenoid curve) by an additional control constraint and the undulate curve is tuned by switching the control constraint in order that the snake robot avoids the obstacle. Therefore, the path planning is simplified and the snake robot will achieve the obstacle avoidance with an efficient path. In this paper, we denote the details of our method and investigate the effectiveness of our strategy by numerical simulations. Keywords Snake-like robot Obstacle avoidance Control constraint
This work was presented in part at the 17th International Symposium on Artificial Life and Robotics, Oita, Japan, January 19–21, 2012. Y. Hitaka (&) T. Yoshitake Department of Control and Information System Engineering, Kitakyushu National College of Technology, 5-20-1 Shii Kokuraminamiku, Kitakyushu, Fukuoka 802-0985, Japan e-mail: [email protected] M. Yokomichi Department of Environmental Robotics, University of Miyazaki, 1-1, Gakuen Kibanadai-nishi, Miyazaki 889-2192, Japan
123
1 Introduction There is a type of snake-like robot which consists of rigid links, active joints and passive wheels. This type of snake robot can move only by varying its shape without driving wheels or crawlers. Hence, it possesses a great potential to pass through complex or ill-conditioned environments. For autonomous control problems of the snake robot, Prautsch et al. [1] proposed an autonomous locomotion control of the head’s position based on Lyapunov function method. They also proposed another control strategy which restricts the motion of the snake robot to some kind of a serpenoid curve to minimize the energy needed for thrust of the snake robot. The serpenoid curve is proposed by Hirose [2], he is a pioneer of the field of the snake robot, to describe the undulation of natural snakes. It is based on an assumption that natural snakes have developed an efficient way of creeping. As other approaches, Kyriakopoulos [3, 4] advanced control strategies based on discontinuous feedback or time-varying feedback control. Hoshi et al. [5] proposed an autonomous control strategy with consideration of the dynamic manipulability. For the dynamic manipulability, an idea evaluating the locomotability for the constraint forces was proposed by Date et al. [6, 7]. Matsuno et al. [8, 9] introduced an idea in which the head position and the shape control
Data Loading...
