Autonomous navigation and steering control based on wireless non-wheeled snake robot

IF 1.9 4区 计算机科学 Q3 ROBOTICS
Robotica Pub Date : 2024-05-08 DOI:10.1017/s0263574724000638
Liming Bao, Yongjun Sun, Zongwu Xie
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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.
基于无线非轮式蛇形机器人的自主导航和转向控制
本文主要研究蛇形机器人的自主路径规划和实时路径跟踪优化方法。蛇形机器人可以在各种复杂环境中执行搜救、勘探等任务。带有激光雷达等视觉传感器的机器人可以通过自主导航避开环境中的障碍物,从而到达目标点。然而,在非结构化环境中,蛇形机器人的导航很容易受到外部环境的影响,导致机器人偏离规划路径。为了解决蛇形机器人在非结构化环境中易受环境因素影响,导致路径跟随能力差的问题,本文采用洛斯算法结合转向控制,对机器人进行实时规划,并实时控制机器人的转向参数,确保机器人能够稳定地按照规划的路径行进。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
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.
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