Perception-Aware Path Finding and Following of Snake Robot in Unknown Environment
Weixin Yang,Gang Wang,Yantao Shen,Weixin Yang,Gang Wang,Yantao Shen
In this paper, we investigate the perception-aware path finding, planning and following for a class of snake robots autonomously serpentining in an unmodeled and unknown environment. In the work, the onboard LiDAR sensor mounted on the head of the snake robot is utilized to reconstruct the local environment, by which and the modified rapidly-exploring random tree method, a feasible path from the c...
