| 摘要 |
A snake robot comprises a flexible elongate structure capable of bending itself at two or more joints along its length in order to generate an undulating motion to thereby propel itself through water. A method for guidance of the snake robot is described, the method comprising: determining a desired path for the robot, the desired path extending between a current location of the robot and a destination point; during forward movement of the robot, when the robot diverges from the desired path, determining an extent of the divergence from the desired path; calculating a desired orientation for the robot as a static or dynamic function of the extent of divergence from the desired path, the desired orientation being non- parallel with the desired path when the robot is affected by drift forces such as ocean currents; and controlling the robot so that it is aligned with the desired orientation, and the longitudinal orientation of the robot is non-parallel with the desired path. |
