Wheel_less snake robots use their articulated body to navigate and negotiate through different types of obstacles. In the proposed paper, an obstacle avoidance behavior in a cluttered environment based on sensory data feedback is developed. The proposed method is employed on a snake robot moves using traveling wave locomotion and formulating S- shape parallel to its lateral axis to stabilize its movement. Laser Range Finder sensor is installed on the head of the robot to detects the surrounding environment and identify the type of typical terrain. The input sensory data is optimized to eliminate the undesired detecting obstacle-points, where the head direction and body orientation of the snake robot is controlled. In this paper, the details of this method are denoted and the effectiveness of the control strategy is investigated experimentally.
Volume 12 | 08-Special Issue
Pages: 256-267
DOI: 10.5373/JARDCS/V12SP8/20202523