Autonomous Navigation and Obstacle Avoidance of a Snake Robot with Combined Velocity-Heading Control
Mahdi Haghshenas-Jaryani,Hakki Erhan Sevil,Mahdi Haghshenas-Jaryani,Hakki Erhan Sevil
This paper presents combined velocity-heading control of a planar snake robot for the autonomous navigation and obstacle avoidance in a simulation environment. The kinematics and dynamics of the snake robot were derived using the articulated-body algorithm without considering the non-holonomic constraints. A double-layer controller was designed to control both heading direction and average velocit...
