Paper Info
Title
Modeling and path-following for a snake robot with active wheels
Abstract
Snake robots with active wheels provide interesting opportunities within many areas such as inspection and maintenance and search and rescue operations. The highly-articulated body of a snake robot combined with the advantages of wheeled locomotion makes it ideal for locomotion in, for example, pipes and other narrow or constricted structures. In this paper we present a mathematical model of the dynamics of a snake robot with active wheels together with a novel path-following approach for such robots. The path-following approach includes both how to find a desired turning angle for the snake robot head given a reference path, together with a module coordination strategy based on a n-trailer kinematic model. The path-following approach is tested and verified by simulations with the dynamic model. In addition, simulations suggest that the proposed approach results in reduced commanded joint and wheels shaft torques and, in most cases, a reduced path-following error compared to an implementation of a follow-the-leader algorithm.
Year
DOI
Venue
2009
10.1109/IROS.2009.5353886
IROS
Keywords
Field
DocType
dynamic model,n-trailer kinematic model,mathematical model,path-following approach,snake robot,proposed approach result,snake robot head,active wheel,wheels shaft torque,reduced path-following error,path planning,mobile robots,robot kinematics,friction
Motion planning,Robot control,Computer vision,Kinematics,Computer science,Robot kinematics,Control engineering,Snake-arm robot,Robot locomotion,Artificial intelligence,Robot,Mobile robot
Conference
Citations 
PageRank 
References 
13
0.72
6
Authors
3
Name
Order
Citations
PageRank
Boathy Murugendran1130.72
Aksel Andreas Transeth2627.17
Sigurd Aksnes Fjerdingen3142.46