Path Following of an Underwater Snake-like Robot Exposed to Ocean Currents and Locomotion Efficiency Optimization Based on Multi-Strategy Improved Sparrow Search Algorithm

In this paper, we propose a cubic spline interpolation method to generate desired curve path and present an integral line of sight (ILOS) control strategy for course tracking based on nonsingular terminal sliding mode enable underwater snake-like robot (USR) move towards follow the generated by parametric cubic-spline (PCSI) path-planning method, while considering disturbances caused ocean currents. The efficiency locomotion is important evaluation criterion design. Thus, introduce multi-strategy improved sparrow search algorithm (MISSA) dynamically choose gait parameters that significantly enhance movement. We conduct simulations demonstrate proposed controller enables USR, subjected currents, accurately converge target path. Our results also reveal MISSA effectively enhances robot.