Sammendrag
In this paper, a waypoint guidance strategy is
proposed for an underwater snake robot. The robot is directed
to follow a path which is derived using path planning
techniques. A first version of the path is derived by the path
planner by using the artificial potential field method for obstacle
avoidance. Afterwards, by subsampling the derived path, a
set of waypoints are chosen along the path. The path is then
defined by interconnecting these waypoints by straight lines.
Secondly, a straight line path following controller is proposed,
to make the underwater snake robot follow the desired path.
Simulation results are presented, illustrating the performance
of the proposed guidance control strategy for both lateral
undulation and eel-like motion.
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