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Path Tracking of an Underwater Snake Robot and Locomotion Efficiency Optimization Based on Improved Pigeon-Inspired Algorithm
2022
Journal of Marine Science and Engineering
This paper considers the tracking control of curved paths for an underwater snake robot, and investigates the methods used to improve energy efficiency. Combined with the path-planning method based on PCSI (parametric cubic-spline interpolation), an improved LOS (light of sight) method is proposed to design the controller and guide the robot to move along the desired path. The evaluation of the energy efficiency of robot locomotion is discussed. In particular, a pigeon-inspired optimization
doi:10.3390/jmse10010047
fatcat:glb4euvr5jcnxgy4kz3e577zoi