Path Following of an Underwater Snake-like Robot Exposed to Ocean Currents and Locomotion Efficiency Optimization Based on Multi-Strategy Improved Sparrow Search Algorithm

Path Following of an Underwater Snake-like Robot Exposed to Ocean Currents and Locomotion Efficiency Optimization Based on Multi-Strategy Improved Sparrow Search Algorithm

In this paper, we propose a cubic spline interpolation method to generate a desired curve path and present an integral line of sight (ILOS) method and a control strategy for course tracking control based on nonsingular terminal sliding mode to enable an underwater snake-like robot (USR) to move towa...

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Bibliographic Details
Main Authors: Jing Liu, Haitao Zhu, Yan Chen, Han Bao
Format: Article
Language:English
Published: MDPI AG 2023-06-01
Series:Journal of Marine Science and Engineering
Subjects:
path following
underwater snake-like robot
multi-strategy improved sparrow search algorithm
locomotion efficiency
Online Access:https://www.mdpi.com/2077-1312/11/6/1236

Internet

https://www.mdpi.com/2077-1312/11/6/1236

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