Adaptive Path Following Control Algorithm Design for Spherical Robots in Surface Navigation

Aiming at the navigation control problem of surface spherical robots, we developed a navigation tracking control algorithm with dynamic curve tracking capabilities. Initially, a three-degree-of-freedom kinematics and dynamics model for the spherical robot was established. Subsequently, a path following controller was designed based on Adaptive Variable Distance guidance strategy. Finally, a heading tracking controller, with a dual loop control method driven by data of the system, was designed and stability analysis was performed on the inner loop controller. Field tests were conducted at sea for the entire designed algorithm, demonstrating that it could follow straight and curved paths with small errors under unknown wind and current conditions.