Motion Planning of a Snake-Like Robot Using an Optimized Harmonic Potential Field-Reference-Cited by-同舟云学术

Motion Planning of a Snake-Like Robot Using an Optimized Harmonic Potential Field

Published:2010-01-01 Issue:3 Volume:1 Page:
ISSN:2081-4836
Container-title:Paladyn, Journal of Behavioral Robotics
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Author:

Charifa Samer,Bikdash Marwan

Abstract

AbstractSnake-like robots have gained popularity in the last three decades for their ability to utilize several gaits in order to navigate through different terrains. They are analogous in morphology to snakes, tentacles, and elephant trunks. We propose a novel method of navigating a snake-like robot based on the Harmonic Field with Optimized Boundary Conditions (HFOBC) and a boundary following algorithm. We apply the HFOBC navigation function using a number of fictitious charges equally spaced on each link. These charges actively follow the potential field towards the target. Futhermore, a generalized mathematical model for an n-link snake-like robot based on Lagrange formulation has also been proposed in this paper.

Publisher

Walter de Gruyter GmbH

Subject

Behavioral Neuroscience,Artificial Intelligence,Cognitive Neuroscience,Developmental Neuroscience,Human-Computer Interaction

Link

http://link.springer.com/content/pdf/10.2478/s13230-011-0005-9.pdf

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