Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator
文献类型：期刊论文
| 作者 | Zhang, Dong2; Liu JG(刘金国)1 ; Hu, Biao2; Cao, Zhengcai2
|
| 刊名 | Complexity
 |
| 出版日期 | 2019 |
| 卷号 | 2019页码:1-13 |
| ISSN号 | 1076-2787 |
| 产权排序 | 2 |
| 英文摘要 | This work investigates locomotion efficiency optimization and adaptive path following of snake-like robots in a complex environment. To optimize the locomotion efficiency, it takes energy consumption and forward velocity into account to investigate the optimal locomotion parameters of snake-like robots controlled by a central pattern generator (CPG) controller. A cuckoo search (CS) algorithm is applied to optimize locomotion parameters of the robot for environments with variable fractions and obstacle distribution. An adaptive path following method is proposed to steer the snake-like robot forward and along a desired path. The efficiency and accuracy of the proposed path following method is researched. In addition, a control framework that includes a CPG network, a locomotion efficiency optimization algorithm, and an adaptive path following method is designed to control snake-like robots move in different environments. Simulation and experimental results are presented to illustrate the performance of the proposed locomotion optimization method and adaptive path following controller for snake-like robots in complexity terrains. |
| WOS关键词 | CUCKOO SEARCH ALGORITHM ; LINE-OF-SIGHT ; SURFACE VESSELS ; MODEL |
| 资助项目 | National Natural Science Foundation of China[51575034] ; National Natural Science Foundation of China[51575034] ; National Natural Science Foundation of China[91748102] ; National Natural Science Foundation of China[91748102] ; National Natural Science Foundation of China[91848103] ; National Natural Science Foundation of China[91848103] ; State Key Laboratory of Robotics[2018-O15] ; State Key Laboratory of Robotics[2018-O15] ; State Key Laboratory of Digital Manufacturing Equipment and Technology[DMETKF2018021] ; State Key Laboratory of Digital Manufacturing Equipment and Technology[DMETKF2018021] |
| WOS研究方向 | Mathematics ; Science & Technology - Other Topics |
| 语种 | 英语 |
| WOS记录号 | WOS:000482144300001 |
| 源URL | [http://ir.sia.cn/handle/173321/24148]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 通讯作者 | Zhang, Dong |
| 作者单位 | 1.State key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.College of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029, China |
| 推荐引用方式 GB/T 7714 | Zhang, Dong,Liu JG,Hu, Biao,et al. Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator[J]. Complexity,2019,2019:1-13. |
| APA | Zhang, Dong,Liu JG,Hu, Biao,&Cao, Zhengcai.(2019).Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator.Complexity,2019,1-13. |
| MLA | Zhang, Dong,et al."Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator".Complexity 2019(2019):1-13. |
入库方式： OAI收割
来源：沈阳自动化研究所
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