Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments

摘要

This paper proposes and experimentally validates a straight line path following controller for underwater snake robots in the presence of constant irrotational currents of unknown direction and magnitude. An integral line-of-sight (LOS) guidance law is presented, which is combined with a sinusoidal gait pattern and a directional controller that steers the robot towards and along the desired path. The stability of the proposed control scheme in the presence of ocean currents is investigated by using Poincar\'{e} map analysis. Simulation results are presented to illustrate the performance of the proposed path following controller for both lateral undulation and eel-like motion. In addition, the performance of the path following controller is investigated through experiments with a physical underwater snake robot. The experimental results show that the proposed control strategy successfully steers the robot towards and along the desired path in the presence of an unknown constant irrotational current in the inertial frame.