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arXiv · 1710.02610

Modelling and Path Planning of Snake Robot in cluttered environment

Akash Singh·Chaohui Gong·Howie Choset
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Abstract

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.

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Akash Singh, Chaohui Gong, Howie Choset. 2017-10-07. Modelling and Path Planning of Snake Robot in cluttered environment. https://arxiv.org/abs/1710.02610

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