Modelling and Path Planning of Snake Robot in cluttered environment

TL;DR

This paper introduces a novel mathematical model for snake robot locomotion in cluttered environments, incorporating contact forces via viscous friction, and proposes a motion planning strategy validated through simulations and experiments.

Contribution

It presents a unique contact force model and a path planning method tailored for snake robots navigating complex environments.

Findings

Validated the mathematical model with numerical simulations

Demonstrated the effectiveness of the planning strategy through experiments

Achieved successful navigation in cluttered environments

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.