Robust Path Following of Snake Robots Based on Improved Line-of-Sight Guidance

This paper studies the issues of sideslip and external environmental interference in the path-following process of the snake robot. For the problem of sideslip angle, the Improved line-of-sight (ILOS) is proposed. This method compensates for the sideslip angle by using an auxiliary integral term, thereby eliminating the side-sliding angle and accelerating the error convergence time, ensuring that the robot can move along the desired path. For the problem of external environmental interference, an adaptive robust controller is proposed. The value of external interference is estimated through the adaptive law, and the estimated value is substituted into the model dynamics to eliminate the influence of external interference on the robot's movement, thereby improving the stability of the system in the interference environment. Finally, through experiments, the feasibility and effectiveness of the proposed controller are verified.