Leader–follower method-based formation control for snake robots

This paper proposes a leader–follower control method for multiple snake robot formation. Based on the simplified snake robot model, this work improves the traditional Serpenoid gait mode to a time-varying frequency form. Combined with the line-of-sight (LOS) method, a snake robot trajectory tracking controller is designed to enable the leader to track the desired trajectory at the ideal velocity. Then, the leader–follower following error system of a snake robot formation is established. In this framework, the follower can maintain a preset geometric position relationship with the leader to ensure the fast convergence of the formation location. Lyapunov’s theory proves the stability of a snake robot formation error. Simulation and experimental results show that this strategy has the advantages of faster convergence speed and higher tracking accuracy than other current methods.