An Efficient Turning Control Method Based on Coordinating Driving for an Underwater Snake-Like Robot with a Propeller

摘要

In this paper, the dynamics of a multi-link underwater snakelike robot with a propeller is modeled by recursive Newton-Euler algorithm. In order to improve the turning performance during the locomotion, a coordinated driving turning control method is proposed. The idea of this method is to use the center of mass of whole snake-like robot as a reference target. By judging whether the propulsion is consistent with the direction of turning gait locomotion, the timing of propulsion generated by the propeller is selected to match the turning gait locomotion. The simulation results demonstrate that the method can not only coordinate the forward gait to accomplish the corresponding movement, but also improve the maneuverability of the turning gait process.