Implementation of Trajectory Tracking for Snake-Like Robot Using Proportional Controller
Control Science and Engineering
Volume 3, Issue 1, June 2019, Pages: 12-19
Received: Jul. 17, 2019;
Accepted: Aug. 19, 2019;
Published: Sep. 2, 2019
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Lu Mai, Department of Electronic Engineering, Technological University, Myitkyina, Republic of the Union of Myanmar
Kyaw Zin Latt, Department of Electronic Engineering, Mandalay Technological University, Mandalay, Republic of the Union of Myanmar
Tin Tin Hla, Department of Electronic Engineering, Mandalay Technological University, Mandalay, Republic of the Union of Myanmar
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.
Kyaw Zin Latt,
Tin Tin Hla,
Implementation of Trajectory Tracking for Snake-Like Robot Using Proportional Controller, Control Science and Engineering.
Vol. 3, No. 1,
2019, pp. 12-19.
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