Efficient path planning for hyper-redundant continuum and snake-like robots is a challenging task due to limited sensing capabilities, high computational loads, multiple possible solutions, and non-linear models. This letter presents a new approach to snake robot navigation and coiling, with an algorithm that enables online step-by-step position adjustment with a follow-the-leader strategy, significantly improving the performance of the robot when compared to previous methods. The proposed algorithm is demonstrated on a 16-degree-of-freedom snake-like robot for inspection and maintenance tasks in nuclear facilities.
Mohammad, A., Russo, M., Fang, Y., Dong, X., Axinte, D., Kell, J. (2021). An Efficient Follow-the-Leader Strategy for Continuum Robot Navigation and Coiling. IEEE ROBOTICS AND AUTOMATION LETTERS, 6(4), 7493-7500 [10.1109/LRA.2021.3097265].
An Efficient Follow-the-Leader Strategy for Continuum Robot Navigation and Coiling
Russo M.;
2021-01-01
Abstract
Efficient path planning for hyper-redundant continuum and snake-like robots is a challenging task due to limited sensing capabilities, high computational loads, multiple possible solutions, and non-linear models. This letter presents a new approach to snake robot navigation and coiling, with an algorithm that enables online step-by-step position adjustment with a follow-the-leader strategy, significantly improving the performance of the robot when compared to previous methods. The proposed algorithm is demonstrated on a 16-degree-of-freedom snake-like robot for inspection and maintenance tasks in nuclear facilities.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
