Volume 3, Issue 1, June 2019, Page: 12-19
Implementation of Trajectory Tracking for Snake-Like Robot Using Proportional Controller
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
Received: Jul. 17, 2019;       Accepted: Aug. 19, 2019;       Published: Sep. 2, 2019
DOI: 10.11648/j.cse.20190301.13      View  84      Downloads  16
Abstract
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.
Keywords
Trajectory Tracking, Snake-like Robot, Proportional Controller, MATLAB
To cite this article
Lu Mai, 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. doi: 10.11648/j.cse.20190301.13
Copyright
Copyright © 2019 Authors retain the copyright of this article.
This article is an open access article distributed under the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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