引用本文: 李东方, 邓宏彬, 潘振华, 彭腾, 王超. 基于改进蛇形曲线的蛇形机器人在流场中避障的轨迹跟踪控制律[J]. 机器人, 2019, 41(4): 433-442.
LI Dongfang, DENG Hongbin, PAN Zhenhua, PENG Teng, WANG Chao. Trajectory Tracking Control Law for Obstacle Avoidance of a Snake-like Robotin Flow Field Based on an Improved Serpentine Curve[J]. ROBOT, 2019, 41(4): 433-442.
 Citation: LI Dongfang, DENG Hongbin, PAN Zhenhua, PENG Teng, WANG Chao. Trajectory Tracking Control Law for Obstacle Avoidance of a Snake-like Robotin Flow Field Based on an Improved Serpentine Curve[J]. ROBOT, 2019, 41(4): 433-442.

## Trajectory Tracking Control Law for Obstacle Avoidance of a Snake-like Robotin Flow Field Based on an Improved Serpentine Curve

• 摘要: 针对蛇形机器人在流场中各关节之间的轨迹跟踪问题，研究一种基于改进蛇形曲线的蛇形机器人在流场中避障的轨迹跟踪控制律．首先，考虑流体环境可能施加在蛇形机器人系统上的外部干扰，采用浸入边界－格子Boltzmann方法（IB-LBM）在流场中建立障碍通道和蛇形机器人的流固耦合模型．然后，对蛇形机器人加入势函数，使其可以避开障碍；并采用改进的蛇形曲线方程使机器人尾部各关节跟踪头部的运动轨迹．最后，通过Matlab仿真和实验，研究不同流场密度、机器人尾部摆动频率以及流场雷诺数等参数对蛇形机器人轨迹跟踪的影响．理论分析和数值仿真表明，所设计的轨迹跟踪控制律不仅可以使蛇形机器人在遇到障碍时各关节跟踪前一关节的运动轨迹，而且还能使横向距离、纵向距离及方向角趋于稳定，达到有效避障的目的．此外，蛇形机器人在离开障碍通道后，各关节可以恢复蛇形曲线的运动形式，为蛇形机器人提供源源不断的前进动力．仿真和实验结果验证了轨迹跟踪控制律的有效性．

Abstract: For the problem of trajectory tracking between joints of a snake-like robot in flow field, a trajectory tracking control law based on an improved serpentine curve for snake-like robot to avoid obstacles in flow field is studied. Firstly, considering the external disturbance that the fluid environment may impose on the snake-like robot system, the fluid-structure interaction model of the obstacle passage and the snake-like robot is established in the flow field by using the immersed boundary-lattice Boltzmann method (IB-LBM). Then, a potential function is added to the snake-like robot to avoid obstacles, and an improved serpentine curve equation is used to track the head trajectory for the tail joints. Finally, the effects of different flow field densities, tail swing frequencies of robot and Reynolds numbers on trajectory tracking of the snake-like robot are studied by Matlab simulation and experiment. Theoretical analysis and numerical simulation show that the designed trajectory tracking control law can not only make the snake-like robot track the trajectory of the previous joint when it encounters obstacles, but also stabilize the transverse distance, longitudinal distance and direction angle to achieve the purpose of effectively avoiding obstacles. Moreover, the joints of the snake-like robot will recover the serpentine curve motion after avoiding obstacles, to provide continuous power for the snake-like robot. The simulation and experimental results verify the effectiveness of the trajectory tracking control law.

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