Autonomous collision-free behavior of a snake-like robot

摘要

As we know, a snake-like robot imitating the locomotion of real snakes can adapt to many kinds of environments. A successful collision-free behavior is necessary for adaptive locomotion of the snake-like robot. Many researchers have used Amplitude Modulation Method (AMM) to realize the turn motion of the snake robot. However, most of them are only qualitative studies without any concrete analysis of this method. For this reason, this research tries to solve these problems and give a computational model of Amplitude Modulation Method (AMM) for turn motion. Based on a head-navigated motion pattern, how to implement the proposed model for a collision-free behavior automatically is investigated. A simple simulation environment is constructed to verify the designed control strategy for this autonomous collision-free behavior of the snake-like robot.