Modelling and Path Planning of Snake Robot in cluttered environment

10/07/2017
by   Akash Singh, et al.
0

Studying snake robot locomotion in a cluttered environment has been a complicated task because the motion model is discontinuous due to the physical contact with obstacles, and the contact force cannot be determined solely by contact positions. We present a unique mathematical model of the robot interacting with obstacles in which the contact forces are mapped on the basis of a viscous friction model. Also a motion planning strategy has been introduced which helps deriving the simplest path that ensures sufficient number of contacts of the robot with the obstacles required to reach a goal position. Numerical simulations and experimental results are presented to validate the theoretical approach.

READ FULL TEXT

Please sign up or login with your details

Forgot password? Click here to reset