The improvement of rescue robots has been vigorously in perilous surroundings for investigate and rescue processes. The secure genus of mobile robots is called snake-like robot. The paper presents implementation of trajectory tracking for snake-like robot by using Proportional controller. In this work, the frame design of snake-like robot model has been accomplished based on the control function with mathematical geometry. The tracking path for snake-like robot was established with the circular path. And then the estimation between the actual tracking and original path could be analysed with MATLAB programming. In this paper, snake-like robot head position is controlled to converge the desired trajectory tracking. In the control system, the rest of the units are automatically converged to track the path of the preceding units by controlling one unit in the head. The tracking error could be reduced by using Proportional controller. The performances of the tracking paths for snake-like robot were shown in this paper.
| Published in | Control Science and Engineering (Volume 3, Issue 1) |
| DOI | 10.11648/j.cse.20190301.13 |
| Page(s) | 12-19 |
| Creative Commons |
This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited. |
| Copyright |
Copyright © The Author(s), 2019. Published by Science Publishing Group |
Trajectory Tracking, Snake-like Robot, Proportional Controller, MATLAB
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APA Style
Lu Mai, Kyaw Zin Latt, Tin Tin Hla. (2019). Implementation of Trajectory Tracking for Snake-Like Robot Using Proportional Controller. Control Science and Engineering, 3(1), 12-19. https://doi.org/10.11648/j.cse.20190301.13
ACS Style
Lu Mai; Kyaw Zin Latt; Tin Tin Hla. Implementation of Trajectory Tracking for Snake-Like Robot Using Proportional Controller. Control Sci. Eng. 2019, 3(1), 12-19. doi: 10.11648/j.cse.20190301.13
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Download@article{10.11648/j.cse.20190301.13,
author = {Lu Mai and Kyaw Zin Latt and Tin Tin Hla},
title = {Implementation of Trajectory Tracking for Snake-Like Robot Using Proportional Controller},
journal = {Control Science and Engineering},
volume = {3},
number = {1},
pages = {12-19},
doi = {10.11648/j.cse.20190301.13},
url = {https://doi.org/10.11648/j.cse.20190301.13},
eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.cse.20190301.13},
abstract = {The improvement of rescue robots has been vigorously in perilous surroundings for investigate and rescue processes. The secure genus of mobile robots is called snake-like robot. The paper presents implementation of trajectory tracking for snake-like robot by using Proportional controller. In this work, the frame design of snake-like robot model has been accomplished based on the control function with mathematical geometry. The tracking path for snake-like robot was established with the circular path. And then the estimation between the actual tracking and original path could be analysed with MATLAB programming. In this paper, snake-like robot head position is controlled to converge the desired trajectory tracking. In the control system, the rest of the units are automatically converged to track the path of the preceding units by controlling one unit in the head. The tracking error could be reduced by using Proportional controller. The performances of the tracking paths for snake-like robot were shown in this paper.},
year = {2019}
}
TY - JOUR T1 - Implementation of Trajectory Tracking for Snake-Like Robot Using Proportional Controller AU - Lu Mai AU - Kyaw Zin Latt AU - Tin Tin Hla Y1 - 2019/09/02 PY - 2019 N1 - https://doi.org/10.11648/j.cse.20190301.13 DO - 10.11648/j.cse.20190301.13 T2 - Control Science and Engineering JF - Control Science and Engineering JO - Control Science and Engineering SP - 12 EP - 19 PB - Science Publishing Group SN - 2994-7421 UR - https://doi.org/10.11648/j.cse.20190301.13 AB - The improvement of rescue robots has been vigorously in perilous surroundings for investigate and rescue processes. The secure genus of mobile robots is called snake-like robot. The paper presents implementation of trajectory tracking for snake-like robot by using Proportional controller. In this work, the frame design of snake-like robot model has been accomplished based on the control function with mathematical geometry. The tracking path for snake-like robot was established with the circular path. And then the estimation between the actual tracking and original path could be analysed with MATLAB programming. In this paper, snake-like robot head position is controlled to converge the desired trajectory tracking. In the control system, the rest of the units are automatically converged to track the path of the preceding units by controlling one unit in the head. The tracking error could be reduced by using Proportional controller. The performances of the tracking paths for snake-like robot were shown in this paper. VL - 3 IS - 1 ER -
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