Motion planning of a snake-like robot based on artificial potential method

The interaction between the snake-like robot and environment produces serpentine action to push the body forward. A slender body shape made from many modules occupies a larger scale. In this paper, snake-like robot motion planning method is analyzed by considering each module's position and its movement as well as position of obstacles. The Potential Energy Function between each module and obstacles is established by using artificial potential method as well as the Potential Energy Function between snake head and the target. With the potential energy function feedback to control the pendulum angle of serpentine movement, the snake-like robot motion planning in the obstacles environment is completed. The adjacent joint adjustment is achieved for movement stability during obstacle avoidance control. Finally, the simulation results verified the effectiveness of proposed path planning method.

[1]  Shahir Hasanzadeh,et al.  Obstacle Avoidance of Snake Robot Moving with A Novel Gait Using Two-Level PID Controller , 2008, 2008 IEEE Conference on Robotics, Automation and Mechatronics.

[2]  広瀬 茂男,et al.  Biologically inspired robots : snake-like locomotors and manipulators , 1993 .

[3]  S. Ma,et al.  Analysis of snake movement forms for realization of snake-like robots , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[4]  Shugen Ma,et al.  Analysis of Creeping Locomotion of a Snake-like Robot on a Slope , 2002 .

[5]  Wang Li-jun.  Research and Exploitation on the Snake-like Robot , 2005 .

[6]  Bin Li,et al.  Analysis of creeping locomotion of a snake robot on a slope , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[7]  Shugen Ma,et al.  Dynamic analysis of 3-dimensional snake robots , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[8]  Wu Yanhua.  Research on Chian Robot Obstacle Crossing , 2009 .

[9]  Tetsuya Iwasaki,et al.  Serpentine locomotion with robotic snakes , 2002 .

[10]  Changlong Ye,et al.  STUDY ON TURNING AND SIDEWISE MOTION OF A SNAKE-LIKE ROBOT , 2004 .

[11]  李斌,et al.  Coupled-Actuation Modular Universal Unit (MUU) of Snake-like Robot , 2002 .

[12]  Guan Ding.  Coupled-actuation modular universal unit (MUU) of snake-like robot , 2004 .

[13]  Pål Liljebäck,et al.  Snake Robot Obstacle-Aided Locomotion: Modeling, Simulations, and Experiments , 2008, IEEE Transactions on Robotics.