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...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-06-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/11/6/1236 |
| _version_ | 1827736913863245824 |
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| author | Jing Liu Haitao Zhu Yan Chen Han Bao |
| author_facet | Jing Liu Haitao Zhu Yan Chen Han Bao |
| author_sort | Jing Liu |
| collection | DOAJ |
| description | 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 towards and follow the path generated by the parametric cubic-spline interpolation (PCSI) path-planning method, while considering the disturbances caused by ocean currents. The efficiency of robot locomotion is an important evaluation criterion for robot design. Thus, we introduce a multi-strategy improved sparrow search algorithm (MISSA) to dynamically choose gait parameters that significantly enhance the efficiency of robot movement. We conduct simulations to demonstrate that the proposed controller enables the USR, subjected to ocean currents, to accurately converge towards and follow the target path. Our results also reveal that MISSA effectively enhances the locomotion efficiency of the robot. |
| first_indexed | 2024-03-11T02:16:46Z |
| format | Article |
| id | doaj.art-cfbfff0e26f34714b44d7c9f5858c2a8 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-11T02:16:46Z |
| publishDate | 2023-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-cfbfff0e26f34714b44d7c9f5858c2a82023-11-18T11:07:46ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-06-01116123610.3390/jmse11061236Path Following of an Underwater Snake-like Robot Exposed to Ocean Currents and Locomotion Efficiency Optimization Based on Multi-Strategy Improved Sparrow Search AlgorithmJing Liu0Haitao Zhu1Yan Chen2Han Bao3College of Shipbuilding Engineering, Harbin Engineering University, No. 145 Nantong Street, Harbin 150001, ChinaCollege of Shipbuilding Engineering, Harbin Engineering University, No. 145 Nantong Street, Harbin 150001, ChinaCollege of Shipbuilding Engineering, Harbin Engineering University, No. 145 Nantong Street, Harbin 150001, ChinaCollege of Shipbuilding Engineering, Harbin Engineering University, No. 145 Nantong Street, Harbin 150001, ChinaIn 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 towards and follow the path generated by the parametric cubic-spline interpolation (PCSI) path-planning method, while considering the disturbances caused by ocean currents. The efficiency of robot locomotion is an important evaluation criterion for robot design. Thus, we introduce a multi-strategy improved sparrow search algorithm (MISSA) to dynamically choose gait parameters that significantly enhance the efficiency of robot movement. We conduct simulations to demonstrate that the proposed controller enables the USR, subjected to ocean currents, to accurately converge towards and follow the target path. Our results also reveal that MISSA effectively enhances the locomotion efficiency of the robot.https://www.mdpi.com/2077-1312/11/6/1236path followingunderwater snake-like robotmulti-strategy improved sparrow search algorithmlocomotion efficiency |
| spellingShingle | Jing Liu Haitao Zhu Yan Chen Han Bao Path Following of an Underwater Snake-like Robot Exposed to Ocean Currents and Locomotion Efficiency Optimization Based on Multi-Strategy Improved Sparrow Search Algorithm Journal of Marine Science and Engineering path following underwater snake-like robot multi-strategy improved sparrow search algorithm locomotion efficiency |
| title | Path Following of an Underwater Snake-like Robot Exposed to Ocean Currents and Locomotion Efficiency Optimization Based on Multi-Strategy Improved Sparrow Search Algorithm |
| title_full | Path Following of an Underwater Snake-like Robot Exposed to Ocean Currents and Locomotion Efficiency Optimization Based on Multi-Strategy Improved Sparrow Search Algorithm |
| title_fullStr | Path Following of an Underwater Snake-like Robot Exposed to Ocean Currents and Locomotion Efficiency Optimization Based on Multi-Strategy Improved Sparrow Search Algorithm |
| title_full_unstemmed | Path Following of an Underwater Snake-like Robot Exposed to Ocean Currents and Locomotion Efficiency Optimization Based on Multi-Strategy Improved Sparrow Search Algorithm |
| title_short | Path Following of an Underwater Snake-like Robot Exposed to Ocean Currents and Locomotion Efficiency Optimization Based on Multi-Strategy Improved Sparrow Search Algorithm |
| title_sort | path following of an underwater snake like robot exposed to ocean currents and locomotion efficiency optimization based on multi strategy improved sparrow search algorithm |
| topic | path following underwater snake-like robot multi-strategy improved sparrow search algorithm locomotion efficiency |
| url | https://www.mdpi.com/2077-1312/11/6/1236 |
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