{"title":"Autonomous navigation and steering control based on wireless non-wheeled snake robot","authors":"Liming Bao, Yongjun Sun, Zongwu Xie","doi":"10.1017/s0263574724000638","DOIUrl":null,"url":null,"abstract":"This paper mainly studies an autonomous path-planning and real-time path-tracking optimization method for snake robot. Snake robots can perform search and rescue, exploration, and other tasks in a variety of complex environments. Robots with visual sensors such as LiDAR can avoid obstacles in the environment through autonomous navigation to reach the target point. However, in an unstructured environment, the navigation of snake robot is easily affected by the external environment, causing the robot to deviate from the planned path. In order to solve the problem that snake robots are easily affected by environmental factors in unstructured environments, resulting in poor path-following ability, this paper uses the Los algorithm combined with steering control to plan the robot in real time and control the robot’s steering parameters in real time, ensuring that the robot can stably follow the planned path.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"82 1","pages":""},"PeriodicalIF":1.9000,"publicationDate":"2024-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Robotica","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1017/s0263574724000638","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
This paper mainly studies an autonomous path-planning and real-time path-tracking optimization method for snake robot. Snake robots can perform search and rescue, exploration, and other tasks in a variety of complex environments. Robots with visual sensors such as LiDAR can avoid obstacles in the environment through autonomous navigation to reach the target point. However, in an unstructured environment, the navigation of snake robot is easily affected by the external environment, causing the robot to deviate from the planned path. In order to solve the problem that snake robots are easily affected by environmental factors in unstructured environments, resulting in poor path-following ability, this paper uses the Los algorithm combined with steering control to plan the robot in real time and control the robot’s steering parameters in real time, ensuring that the robot can stably follow the planned path.
期刊介绍:
Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.