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Leader-follower method-based formation control for snake robots.

Wu Wang1, Zhihang Du1, Dongfang Li1

  • 1College of Electrical Engineering and Automation, Fuzhou University, Fuzhou, 350108, Fujian, China; 5G+ Industrial Internet Institute, Fuzhou University, Fuzhou, 350108, Fujian, China.

ISA Transactions
|December 10, 2024
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Summary
This summary is machine-generated.

This study introduces a novel leader-follower control for snake robot formations, enhancing gait modes for faster, more accurate trajectory tracking. The method ensures followers maintain formation, improving overall system performance.

Keywords:
Formation controlLeader–followerSnake robotTrajectory tracking

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Area of Science:

  • Robotics
  • Control Systems
  • Mechanical Engineering

Background:

  • Snake robots offer unique advantages in confined or complex environments.
  • Coordinated control of multi-robot systems is crucial for complex tasks.
  • Existing Serpenoid gait modes have limitations in dynamic formation control.

Purpose of the Study:

  • To develop a leader-follower control strategy for multiple snake robot formations.
  • To improve the trajectory tracking accuracy and convergence speed of snake robot formations.
  • To ensure stable formation maintenance using a leader-follower approach.

Main Methods:

  • A simplified snake robot model was utilized.
  • The Serpenoid gait mode was modified to a time-varying frequency.
  • A line-of-sight (LOS) method was integrated for trajectory tracking.
  • A leader-follower error system was established and analyzed using Lyapunov stability theory.

Main Results:

  • The leader robot successfully tracks desired trajectories at ideal velocities.
  • Follower robots maintain preset geometric positions relative to the leader.
  • The proposed control method demonstrates faster convergence and higher tracking accuracy compared to existing methods.
  • Lyapunov's theory confirms the stability of the snake robot formation error.

Conclusions:

  • The proposed leader-follower control method is effective for multi-snake robot formations.
  • The enhanced Serpenoid gait and LOS control improve formation performance.
  • This strategy offers a significant advancement in coordinated snake robot control.