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.
2021
Pubblicato
Rilevanza internazionale
Articolo
Esperti anonimi
Settore ING-IND/13
English
Continuum robot
robotics in hazardous fields
coiling
motion and path planning
collision avoidance
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].
Mohammad, A; Russo, M; Fang, Y; Dong, X; Axinte, D; Kell, J
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/346206
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