Computer Science

Computer Science ›› 2023, Vol. 50 ›› Issue (6A): 220700060-5.doi: 10.11896/jsjkx.220700060

• Artificial Intelligence • Previous Articles     Next Articles

Intelligent Winding Motion Control Method Based on Bionic Snake-like Robot

DU Hongjian1, GUO Peng1, XIAO Wenyu2, YIN Jun2   

  1. 1 Guangdong Beijiang Channel Affairs Center,Qingyuan,Guangdong 511518,China;
    2 School of Automation Science and Engineering,South China University of Technology,Guangzhou 510641,China
  • Online:2023-06-10 Published:2023-06-12
  • About author:DU Hongjian,born in 1990,mechanical engineer.His main research interest is intelligent manufacturing.

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Abstract: Winding gait control is one of the basic motion control of special bionic snake-like robots.The tracking of snake-like robots in winding motion has the problems of target loss,head shaking and unstable direction.Combining sliding mode variable structure control and the Canny multi-level edge detection algorithm,this paper proposes an intelligent winding motion control method.First,a linear tracking controller is designed based on sliding mode control theory.Second,a new winding gait control function is proposed to solve the problem of head shaking of the snake-like robot.Finally,combined with the Canny algorithm,linear tracking controller and the winding gait control function,a complete control loop of the snake-shaped robot is established to realize the directional control of the robot.Experimental results show that the proposed intelligent winding gait control method is more stable and robust than the traditional winding motion.

Key words: Sliding mode variable structure control, Winding motion, Canny algorithm, Gait control

CLC Number: 

  • TP242.6
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