Matches in SemOpenAlex for { <https://semopenalex.org/work/W3129757444> ?p ?o ?g. }
Showing items 1 to 98 of
98
with 100 items per page.
- W3129757444 abstract "This paper presents combined velocity-heading control of a planar snake robot for the autonomous navigation and obstacle avoidance in a simulation environment. The kinematics and dynamics of the snake robot were derived using the articulated-body algorithm without considering the non-holonomic constraints. A double-layer controller was designed to control both heading direction and average velocity through joint motion control. We adopted a rule-based expert system for autonomous navigation while avoiding obstacles/restricted-areas. The guidance commands were realized by two proportional controllers that use feedback of the estimated speed and heading of the robot. To validate the combined velocity-heading controller, a series of simulations were carried out for a snake robot with 6 links (8 DOF). The autonomous navigation and obstacle-avoidance algorithms provided the commands to follow the desired trajectories. The simulation results showed the effectiveness of the controller in following the desired heading directions and achieving targeted velocities with small errors to reach the goal position by avoiding obstacles." @default.
- W3129757444 created "2021-03-01" @default.
- W3129757444 creator A5040900522 @default.
- W3129757444 creator A5048193555 @default.
- W3129757444 date "2020-10-24" @default.
- W3129757444 modified "2023-10-16" @default.
- W3129757444 title "Autonomous Navigation and Obstacle Avoidance of a Snake Robot with Combined Velocity-Heading Control" @default.
- W3129757444 cites W1625247920 @default.
- W3129757444 cites W1939016165 @default.
- W3129757444 cites W2004102679 @default.
- W3129757444 cites W2014101821 @default.
- W3129757444 cites W2067862728 @default.
- W3129757444 cites W2106222102 @default.
- W3129757444 cites W2140516362 @default.
- W3129757444 cites W2141493926 @default.
- W3129757444 cites W2151103906 @default.
- W3129757444 cites W2159307582 @default.
- W3129757444 cites W2299534793 @default.
- W3129757444 cites W2770362046 @default.
- W3129757444 doi "https://doi.org/10.1109/iros45743.2020.9341256" @default.
- W3129757444 hasPublicationYear "2020" @default.
- W3129757444 type Work @default.
- W3129757444 sameAs 3129757444 @default.
- W3129757444 citedByCount "3" @default.
- W3129757444 countsByYear W31297574442022 @default.
- W3129757444 countsByYear W31297574442023 @default.
- W3129757444 crossrefType "proceedings-article" @default.
- W3129757444 hasAuthorship W3129757444A5040900522 @default.
- W3129757444 hasAuthorship W3129757444A5048193555 @default.
- W3129757444 hasConcept C121332964 @default.
- W3129757444 hasConcept C127413603 @default.
- W3129757444 hasConcept C1276947 @default.
- W3129757444 hasConcept C133731056 @default.
- W3129757444 hasConcept C13662910 @default.
- W3129757444 hasConcept C145565327 @default.
- W3129757444 hasConcept C146978453 @default.
- W3129757444 hasConcept C154945302 @default.
- W3129757444 hasConcept C166957645 @default.
- W3129757444 hasConcept C19966478 @default.
- W3129757444 hasConcept C203479927 @default.
- W3129757444 hasConcept C205649164 @default.
- W3129757444 hasConcept C2775924081 @default.
- W3129757444 hasConcept C2776650193 @default.
- W3129757444 hasConcept C2776937971 @default.
- W3129757444 hasConcept C39920418 @default.
- W3129757444 hasConcept C41008148 @default.
- W3129757444 hasConcept C44154836 @default.
- W3129757444 hasConcept C47446073 @default.
- W3129757444 hasConcept C65401140 @default.
- W3129757444 hasConcept C6557445 @default.
- W3129757444 hasConcept C6683253 @default.
- W3129757444 hasConcept C74222875 @default.
- W3129757444 hasConcept C74650414 @default.
- W3129757444 hasConcept C86803240 @default.
- W3129757444 hasConcept C90509273 @default.
- W3129757444 hasConceptScore W3129757444C121332964 @default.
- W3129757444 hasConceptScore W3129757444C127413603 @default.
- W3129757444 hasConceptScore W3129757444C1276947 @default.
- W3129757444 hasConceptScore W3129757444C133731056 @default.
- W3129757444 hasConceptScore W3129757444C13662910 @default.
- W3129757444 hasConceptScore W3129757444C145565327 @default.
- W3129757444 hasConceptScore W3129757444C146978453 @default.
- W3129757444 hasConceptScore W3129757444C154945302 @default.
- W3129757444 hasConceptScore W3129757444C166957645 @default.
- W3129757444 hasConceptScore W3129757444C19966478 @default.
- W3129757444 hasConceptScore W3129757444C203479927 @default.
- W3129757444 hasConceptScore W3129757444C205649164 @default.
- W3129757444 hasConceptScore W3129757444C2775924081 @default.
- W3129757444 hasConceptScore W3129757444C2776650193 @default.
- W3129757444 hasConceptScore W3129757444C2776937971 @default.
- W3129757444 hasConceptScore W3129757444C39920418 @default.
- W3129757444 hasConceptScore W3129757444C41008148 @default.
- W3129757444 hasConceptScore W3129757444C44154836 @default.
- W3129757444 hasConceptScore W3129757444C47446073 @default.
- W3129757444 hasConceptScore W3129757444C65401140 @default.
- W3129757444 hasConceptScore W3129757444C6557445 @default.
- W3129757444 hasConceptScore W3129757444C6683253 @default.
- W3129757444 hasConceptScore W3129757444C74222875 @default.
- W3129757444 hasConceptScore W3129757444C74650414 @default.
- W3129757444 hasConceptScore W3129757444C86803240 @default.
- W3129757444 hasConceptScore W3129757444C90509273 @default.
- W3129757444 hasLocation W31297574441 @default.
- W3129757444 hasOpenAccess W3129757444 @default.
- W3129757444 hasPrimaryLocation W31297574441 @default.
- W3129757444 hasRelatedWork W11733889 @default.
- W3129757444 hasRelatedWork W12166380 @default.
- W3129757444 hasRelatedWork W12704983 @default.
- W3129757444 hasRelatedWork W1725610 @default.
- W3129757444 hasRelatedWork W4902384 @default.
- W3129757444 hasRelatedWork W6827933 @default.
- W3129757444 hasRelatedWork W7002317 @default.
- W3129757444 hasRelatedWork W7566858 @default.
- W3129757444 hasRelatedWork W8417645 @default.
- W3129757444 hasRelatedWork W870055 @default.
- W3129757444 isParatext "false" @default.
- W3129757444 isRetracted "false" @default.
- W3129757444 magId "3129757444" @default.
- W3129757444 workType "article" @default.