A Bayesian-Based Controller for Snake Robot Locomotion in Unstructured Environments
Yuanyuan Jia,Shugen Ma,Yuanyuan Jia,Shugen Ma
This paper presents a novel Bayesian-based controller for snake robots in cluttered environment. It extends the conventional shape-based compliant control into statistical field providing an explicit mathematical formulation with Bayesian network. A sequential density propagation rule is derived by introducing several probability densities in a unified framework. Specifically, two input influence ...
