抄録
This paper is concerned with feedback control of the trident snake robot, which is an example of wheeled mobile robot described as a nonholonomic kinematic equation with three control inputs and six state variables. Based on the authors' previous work on controlling nonholonomic system by using neural oscillators with strong entrainment property, we propose to apply artificial disturbance (stimulation) to the neural oscillators to generate translational locomotion in the prespecified desired direction. We also design a feedback control scheme by assigning the disturbance as a function of current direction error to the desired one.
