IEEE Robotics & Automation Magazine - March 2016 - 61
were presented. In particular, a straight-line-path-following controller was proposed for an underwater snake
robot, both for lateral undulation and eel-like motion patterns. The LOS guidance law was combined with a directional controller to steer the robot to the path. The
proposed path following controller consists of three main
components: 1) the gait-pattern controller, which produces
a sinusoidal motion pattern that propels the robot forward,
2) the heading controller, which steers the robot toward
and subsequently along the desired path, and 3) the LOS
guidance law, which generates the desired heading angle to
follow the desired path. It was shown that the proposed
control scheme could be applied to underwater snake robots to achieve path following of straight lines. In addition,
fluid parameter identification was performed and simulation results based on the identified fluid coefficients were
presented to obtain a back-to-back comparison with the
motion of the physical robot during the experiments. The
experimental results showed that the proposed control
strategy successfully steers the robot toward and along the
desired path for both lateral undulation and eel-like motion patterns.
In future work, the authors will investigate the validity of
the proposed control strategy for general path-following control purposes. In this article, we did not take into account the
current effects since there is no possibility to produce current
at the MC-lab. It is furthermore of interest to test the scheme
for the fluid coefficient identification in combination with
current effects in the future. The force/torque sensors installed inside the modules of the robot may be used for more
precise online fluid coefficient identification with and without the current effects. In addition, an interesting topic for
future work concerns the possibility to extend the proposed
control approach to 3-D and thus be able to investigate depth
control strategies for underwater snake robots. An experimental investigation of path following of underwater snake
robots in 3-D is necessary to realize underwater snake robots
for challenging real-time subsea operations.
Acknowledgments
This work was partly supported by the Research Council of
Norway through project 205622 and its Centres of Excellence
funding scheme project 223254-NTNU AMOS.
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march 2016
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