A study of Nonlinear Model Predictive Control (NMPC) for snake robot path following

摘要

This paper considers Nonlinear Model Predictive Control (NMPC) in the context of snake robot locomotion. NMPC is an optimal control technique that offers the ability of handling constraints although requiring relatively significant computational resources. In detail, we show how NMPC can be applied to achieve straight line path following control of snake robots. The paper presents simulation results which illustrate the performance of the proposed control approach. Moreover, we discuss advantages and disadvantages of NMPC as a control approach for snake robots.