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

摘要

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 to design the controller and guide the robot to move along the desired path. The evaluation of the energy efficiency of robot locomotion is discussed. In particular, a pigeon-inspired optimization algorithm improved by quantum rules (QPIO) is proposed for dynamically selecting the gait parameters that maximize energy efficiency. Simulation results show that the proposed controller enables the robot to accurately follow the curved path and that the QPIO algorithm is effective in improving robot energy efficiency.