文章基本信息

标题：Economic model predictive control for obstacle-aided snake robot locomotion
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作者：Evan Müller ; Philipp N. Köhler ; Kristin Y. Pettersen 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：9702-9708
DOI：10.1016/j.ifacol.2020.12.2622
语种：English
出版社：Elsevier
摘要：AbstractThis paper studies the application of economic model predictive control (MPC) to snake robot locomotion. The proposed MPC algorithm integrates the gait pattern creation into the closed loop by maximizing the forward snake velocity. We consider both purely planar locomotion as well as obstacle-aided locomotion. A compliant obstacle-snake contact model is introduced, rendering the interaction dynamics considered in the optimal control problem smooth. We illustrate the efficacy of the scheme by numerical simulations. The emerging gait patterns are undulatory and can make simultaneous use of anisotropic ground friction and obstacles.
关键词：KeywordsModel Predictive ControlMobile robotsObstaclesTrajectory planning