Vision-based Path Following of Snake-like Robots
Lixing Liu Wei Xi Xian Guo Yongchun Fang Lixing Liu Wei Xi Xian Guo Yongchun Fang
Due to the head swinging and the body winding, the self-localization and path following for snake-like robots based on vision are very challenging. In this paper, a novel pantilt compensation method and curve parameter compensation path following controller are proposed to solve these problems, which can achieve high-precision path following. More specifically, to realize real-time positioning of ...