Path Tracking of an Underwater Snake Robot and Locomotion Efficiency Optimization Based on Improved Pigeon-Inspired Algorithm

This paper considers the tracking control of curved paths for an underwater snake robot, and investigates the methods used to improve energy efficiency. Combined with the path-planning method based on PCSI (parametric cubic-spline interpolation), an improved LOS (light of sight) method is proposed t...

Full description

Bibliographic Details

Published in:	Journal of Marine Science and Engineering
Main Authors:	Bo Xu, Mingyu Jiao, Xianku Zhang, Dalong Zhang
Format:	Article
Language:	English
Published:	MDPI AG 2022-01-01
Subjects:	underwater snake robot path tracking energy efficiency improved pigeon-inspired optimization
Online Access:	https://www.mdpi.com/2077-1312/10/1/47