Control of snake robots with switching constraints: trajectory tracking with moving obstacle.
Motoyasu TanakaFumitoshi MatsunoPublished in: Adv. Robotics (2014)
Keyphrases
- trajectory tracking
- physical constraints
- mobile robot
- visual servoing
- iterative learning control
- wheeled mobile robots
- control system
- closed loop
- neural network controller
- control law
- bi directional
- autonomous robots
- control method
- robotic systems
- sliding mode
- robot control
- iterative learning
- dynamic model
- experimental data
- vision system
- real time