A Novel Algorithm for Trajectory Tracking Control of a Snake Robot

This paper presents a novel, simple and effective algorithm for trajectory tracking control of a snake robot. The algorithm consists of two main parts leading to the control of heading and body serpenoid movement simultaneously. The control strategy is based on the feedback of angle between the direction of the robot’s motion and the "desired direction" to impose corrective heading commands at each instant. The "desired direction" is the direction of the shortest vector which connects the robot head to the desired path. Accordingly, the body control includes some serpenoid or semi-serpenoid movement modes such that the robot effectively follows the desired path at different condition. Simulations have been carried out in MATLAB/SIMULINK environment. Experiments have also been conducted on a prototype 9-link snake robot. Simulation and experimental results are fairly matched demonstrating the effectiveness of the proposed algorithm.