Path Following of an Underwater Snake-like Robot Exposed to Ocean Currents and Locomotion Efficiency Optimization Based on Multi-Strategy Improved Sparrow Search Algorithm

摘要

In this paper, we propose a cubic spline interpolation method to generate a desired curve path and present an integral line of sight (ILOS) method and a control strategy for course tracking control based on nonsingular terminal sliding mode to enable an underwater snake-like robot (USR) to move towards and follow the path generated by the parametric cubic-spline interpolation (PCSI) path-planning method, while considering the disturbances caused by ocean currents. The efficiency of robot locomotion is an important evaluation criterion for robot design. Thus, we introduce a multi-strategy improved sparrow search algorithm (MISSA) to dynamically choose gait parameters that significantly enhance the efficiency of robot movement. We conduct simulations to demonstrate that the proposed controller enables the USR, subjected to ocean currents, to accurately converge towards and follow the target path. Our results also reveal that MISSA effectively enhances the locomotion efficiency of the robot.