Motion planning of a snake-like robot based on artificial potential method

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Motion planning of a snake-like robot based on artificial potential method
	Ye ZL(叶长龙); Hu DL(胡德利); Ma SG(马书根); Li HY(李怀勇)
	2010
会议名称	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
会议日期	December 14-18, 2010
会议地点	Tianjin, China
页码	1496-1501
通讯作者	叶长龙
中文摘要	The interaction between the snake-like robot and environment produces serpentine action to push the body forward. A slender body shape made from many modules occupies a larger scale. In this paper, snake-like robot motion planning method is analyzed by considering each module's position and its movement as well as position of obstacles. The Potential Energy Function between each module and obstacles is established by using artificial potential method as well as the Potential Energy Function between snake head and the target. With the potential energy function feedback to control the pendulum angle of serpentine movement, the snake-like robot motion planning in the obstacles environment is completed. The adjacent joint adjustment is achieved for movement stability during obstacle avoidance control. Finally, the simulation results verified the effectiveness of proposed path planning method.
收录类别	EI
产权排序	1
会议主办者	IEEE Robotics and Automation Society; Hebei University of Technology; Tianjin University of Technology; Tianjin Association for Science and Technology
会议录	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, NJ
语种	英语
ISBN号	978-1-4244-9317-3
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/20057]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Ye ZL,Hu DL,Ma SG,et al. Motion planning of a snake-like robot based on artificial potential method[C]. 见:2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010. Tianjin, China. December 14-18, 2010.