Trajectory Planning of Underwater Snake-Like Robot Base on Gaussian Pseudospectral Method

Compared with the traditional underwater unmanned system, the underwater snake-like robot shows higher performance and terrain avoidance ability in complicated external environment. However, it also puts higher requirement on its control methodology. To achieve accurate obstacle avoidance in underwater terrain constraints, a new trajectory planning scheme is designed in this paper. First, the model of underwater snake-like robot is built. The shape of snake is considered in the model. Then, the hp adaptive Radau pseudospectral is applied to plan the trajectory of three degree of freedom of snake-like robot model. Finally, the simulation results show that the method is feasible and effective.