Path Tracking of an Underwater Snake Robot and Locomotion Efficiency Optimization Based on Improved Pigeon-Inspired Algorithm

Path Tracking of an Underwater Snake Robot and Locomotion Efficiency Optimization Based on Improved Pigeon-Inspired Algorithm

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 t...

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Bibliographic Details
Main Authors: Bo Xu, Mingyu Jiao, Xianku Zhang, Dalong Zhang
Format: Article
Language:English
Published: MDPI AG 2022-01-01
Series:Journal of Marine Science and Engineering
Subjects:
underwater snake robot
path tracking
energy efficiency
improved pigeon-inspired optimization
Online Access:https://www.mdpi.com/2077-1312/10/1/47

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