Abstract
Snake-like robots have gained popularity in the last three decades for their ability to utilize several gaits in order to navigate through different terrains. They are analogous in morphology to snakes, tentacles, and elephant trunks. We propose a novel method of navigating a snake-like robot based on the Harmonic Field with Optimized Boundary Conditions (HFOBC) and a boundary following algorithm. We apply the HFOBC navigation function using a number of fictitious charges equally spaced on each link. These charges actively follow the potential field towards the target. Futhermore, a generalized mathematical model for an n-link snake-like robot based on Lagrange formulation has also been proposed in this paper.
References
[1] S. Hirose, Biologically Inspired Robots: Snake-Like Locomotors and Manipulators, Oxford University Press, Oxford, 1993.Search in Google Scholar
[2] E. Paljug, T. Ohm, and S. Hayati, “The JPL serpentine robot: a 12-dof system for inspection,” IEEE Int. Conf. on Robotics and Automation, Nagoya, Aichi, Japan, vol. 3, May 1995, pp. 3143-3148.Search in Google Scholar
[3] S.H. Yamada, M. Chigisaki, K. Mori, K. Takita, K. Ogami, S. Hirose, “Development of amphibious snake-like robot ACM-R5,” Proc. 36th Int. Symp. Robotics, Tokyo, Japan, Nov. 2005, pp. 163-175.Search in Google Scholar
[4] M. Nilsson, “Serpentine locomotion on surfaces with uniform friction,” Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Sendai, Japan, Sep. 2004, pp. 1751-1755.Search in Google Scholar
[5] P. Liljeback, Ø. Stavdahl, and K. Y. Pettersen, “Modular pneumatic snake robot: 3D modelling, implementation and control,” Proc. 16th IFAC World Congress, Prague, Czech Republic, July 2005, pp. 1-5.10.3182/20050703-6-CZ-1902.01274Search in Google Scholar
[6] T. Kamegawa, T. Yarnasaki, H. Igarashi, and F. Matsuno, “Development of the snake-like rescue robot ‘Kohga’,” Proc. IEEE Int. Conf. on Robotics and Automation, New Orleans, LA, April 2004, pp. 5081-5086.10.1109/ROBOT.2004.1302523Search in Google Scholar
[7] S.A. Fjerdingen, J.R. Mathiassen, H. Schumann-Olsen, and E. Kyrkjebø, “Adaptive Snake Robot Locomotion: A Benchmarking Facility for Experiments,” European Robotics Symposium, Czech Republic, vol. 44, March 2008, pp. 13-22.10.1007/978-3-540-78317-6_2Search in Google Scholar
[8] A. Wolf, H. Choset, H.B. Brown, and R. Casciola, “Design and Control of a Mobile Hyper-Redundant Urban Search and Rescue Robot, International Journal of Advanced Robotics, vol 19, no. 8, 2005, pp. 221-248.10.1163/1568553053583652Search in Google Scholar
[9] P. Liljeback, . Stavdahl, and A. Beitnes, “SnakeFighter: development of a water hydraulic fire-fighting snake robot,” Proc. IEEE Int. Conf. Control, Automation, Robotics, and Vision, Dec. 2006, pp 1-6.10.1109/ICARCV.2006.345311Search in Google Scholar
[10] N. Takanashi, H. Choset, and J. Burdick, “Experimental Results for Sensor Based Planning for Hyper-redundant Manipulators,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan, 1993, pp. 636-643.Search in Google Scholar
[11] H. Choset and J. Burdick, “Extensibility in Local Sensor Based Planning For Hyper Redundant Manipulators (Robot Snakes),” Conference on Intelligent Robotics in Field, Factory, Service and Space (CIRFFSS 1994), Houston, Texas, 1994, pp. 820-829.Search in Google Scholar
[12] W. Henning, F. Hickman, and H. Choset, “Motion Planning for Serpentine Robots,” ASCE Space and Robotics, Albuquerque, New Mexico, 1998, pp. 1-7.10.1061/40337(205)1Search in Google Scholar
[13] Jinguo Liu, Yuechao Wang, Bin Ii, and Shugen Ma, “Path planning of a snake-like robot based on serpenoid curve and genetic algorithms,” World Congress on Intelligent Control and Automation, vol. 6, June 2004, pp. 4860-4864.Search in Google Scholar
[14] E.S. Conkur, “Path planning using potential fields for highly redundant manipulators,” Robotics and Autonomous Systems, vol. 52, August 2005, pp. 209-228.10.1016/j.robot.2005.03.005Search in Google Scholar
[15] E.S. Conkur and R. Gurbuz, “Path Planning Algorithm for Snake-Like Robot,” Information Technology and Control, 2008, vol.37, no.2, pp. 159-162.Search in Google Scholar
[16] Y. Cheng, P. Jiang, and Y.F. Hu, “A-Snake: Integration of path planning with control for mobile robots with dynamic constraints,” The 2nd International Conference on Computer and Automation Engineering, Feb. 2010, pp. 127-134.10.1109/ICCAE.2010.5451415Search in Google Scholar
[17] D. Yagnik, R. Jing, and R. Liscano, “Motion planning for multi-link robots using Artificial Potential Fields and modified Simulated Annealing,” IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, July 2010, pp 421-427.10.1109/MESA.2010.5551989Search in Google Scholar
[18] J.E. Slotine and W. Li, “On the Adaptive Control of Robot Manipulators,” The International Journal of Robotic Research, vol. 6, no. 3, Sep. 1987, pp. 49-59.10.1177/027836498700600303Search in Google Scholar
[19] J.H. Ginsberg, Advanced Dynamics, New York, NY, Cambridge University Press, 1998.Search in Google Scholar
[20] C. Connolly, R. Weiss, and J. Burns, “Path Planning Using Laplace's Equation,” IEEE Int. Conf. Robotics and Automation, Cincinnati, OH, May 1990, pp. 2102-2106.Search in Google Scholar
[21] D. Alvarez, J.C. Alvarez, and R.C. Gonzalez, “Online Motion Planning using Laplace Potential Fields,” IEEE lnt. Conf. Robotics and Automation, Taipei, Taiwan, Sep. 2003, pp. 3347-3352.Search in Google Scholar
[22] S. Charifa and M. Bikdash, “Comparison of geometrical, kinematic, and dynamic performance of several potential field methods,” IEEE Southeast Conference, Atlanta, GA, March 2009, pp. 18-2310.1109/SECON.2009.5174043Search in Google Scholar
[23] M. Bikdash and S. Charifa, “Rigid Body Navigation Using a Combined Optimized Potential Field and a Boundary Following Algorithm,” Mathematical and Computational Applications, accepted, 2010.Search in Google Scholar
[24] S. Charifa and M. Bikdash “Adaptive boundary-following algorithm guided by artificial potential field for robot navigation”, IEEE Workshop on Robotic Intelligence in Informationally Structured Space, Nashville, TN, March 2009, pp. 38-45.10.1109/RIISS.2009.4937904Search in Google Scholar
© Samer Charifa et al.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.