Real-Time Whole-Body Collision Avoidance and Path Following of a Snake Robot Through MPC-based Optimization Strategies
Liuyin Wang,Gang Wang,Yuan Li,Peng Li,Yunfeng Ji,Chaoli Wang,Yantao Shen,Liuyin Wang,Gang Wang,Yuan Li,Peng Li,Yunfeng Ji,Chaoli Wang,Yantao Shen
The work in this paper delves into the challenge of whole elongated body's obstacle avoidance during path following for a class of bionic snake robots. Currently, most studies focus solely on preventing the robot's head from colliding with obstacles through designed controllers. However, due to the unique elongated structure and biomimetic locomotion modes of snake robots, it is unavoidable that t...
