Path-Planning of Snake-Like Robot in Presence of Static Obstacles Using Critical-SnakeBug Algorithm

  • Ajoy Kumar Dutta
  • Subir Kumar Debnath
  • Subir Kumar DasEmail author
Conference paper
Part of the Lecture Notes in Networks and Systems book series (LNNS, volume 41)


A wheeled snake robot presents a remarkable opening in many areas such as observation and support, exploration and rescue process. A snake can navigate through cluttered and uneven surroundings using its body as push points to support the forward motion. This typical quality of natural snake locomotion, known as obstacle-aided locomotion, is studied for snake robot locomotion. In this paper, path-planning method of snake-like robot avoiding static obstacles is given. The interaction among the snake-like robot and surroundings generates serpentine act to push the body ahead. The robot can successfully find a way to arrive at its target while avoiding collisions with multiple static obstacles using this algorithm.


Path-planning Mobile robot navigation Bug algorithm Snake-like robot 



Thanks to Prof. Dr. Subhasis Bhoumik of IIEST, Shibpur for giving the idea to develop a snake-like robot. Thank you to the Production Engineering Department, Jadavpur University and Asansol Engineering College for giving us the opportunity to use their resources.


  1. 1.
    Liljebäck, P., Pettersen, K.Y., Stavdahl, Ø., Gravdahl, J.T.: A hybrid model of obstacle-aided snake robot locomotions, pp. 675–682. IEEE (2010). 978-1-4244-5040-4/10Google Scholar
  2. 2.
    Shugen, M.: Analysis of creeping locomotion of a snake-like robot. Adv. Robot. 15(2), 205–224 (2001)CrossRefGoogle Scholar
  3. 3.
    Cheng, Y., Jiang, P., Hu, Y.F.: A-snake-integration of path planning with control for mobile robots with dynamic constraints, vol. 2, pp. 127–134. IEEE (2010). 978-1-4244-5586-7/10Google Scholar
  4. 4.
    Gayle, R., Redon, S., Sud, A., Lin, M., Manocha, D.: Efficient path planning for highly articulated robots using adaptive forward dynamics. In: IEEE International Conference on Robotics and Automation, ICRA 2007, pp. 1–16Google Scholar
  5. 5.
    Murugendran, B., Transeth, A.A., Fjerdingen, S.A.: Modeling and path-following for a snake robot with active wheels, pp. 3643–3650. IEEE (2009). 978-1-4244-3804-4/09Google Scholar
  6. 6.
    Singh, A., Gong, C., Choset, H.: Modelling and path planning of snake robot in cluttered environment. SciRate, cs.RO, vol. 1. arXiv:1710.02610v1
  7. 7.
    Yagnik, D., Ren, L., Liscano, R.: Motion planning for multi-link robots using artificial potential fields and modified simulated annealing, pp. 421–427. IEEE (2010). 978-1-4244-7101-0110Google Scholar
  8. 8.
    Ye, C., Hu, D., Ma, S., Li, H.: Motion planning of a snake-like robot based on artificial potential method, pp. 1496–1501. IEEE (2010). 978-1-4244-9318-0/10Google Scholar
  9. 9.
    Rezapour, E., Pettersen, K.Y., Liljebäck, P., Gravdahl, J.T., Kelasidi, E.: Path following control of planar snake robots using virtual holonomic constraints-theory and experiments. Robot. Biomimet. 1(3), 1–15 (2014)Google Scholar
  10. 10.
    Sacks, E.: Path planning for planar articulated robots using configuration spaces and compliant motion. IEEE Trans. Robot. Autom. 19(3), 381–390 (2003)CrossRefGoogle Scholar
  11. 11.
    Liu, J., Wang, Y., Ii, B., Ma, S.: Path planning of a snake-like robot based on serpenoid curve and genetic algorithms. In: Fifth World Congress on Intelligent Control and Automation, vol. 6, pp. 4860–4864. IEEE (2004)Google Scholar
  12. 12.
    Cappo, E.A., Choset, H.: Planning end effector trajectories for a serially linked, floating-base robot with changing support polygon. In: American Control Conference (ACC), pp. 4038–4043. IEEE (2014)Google Scholar
  13. 13.
    Hatton, R.L., Knepper, R.A., Choset, H., Rollinson, D., Gong, C., Galceran, E.: Snakes on a plan-toward combining planning and control. In: IEEE International Conference on Robotics and Automation (ICRA), IEEE (2013)Google Scholar
  14. 14.
    Reyes, F., Ma, S.: Studying slippage on pushing applications with snake robots. Robot. Biomimet. Springer 4(9), 1–12 (2017)Google Scholar
  15. 15.
    Dutta, A.K., Debnath, S.K., Das, S.K.: Local path planning of mobile robot using critical-pointbug algorithm avoiding static obstacles. Int. J. Robot. Autom. (IJRA) 5(3), 182–189 (2016)Google Scholar

Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Ajoy Kumar Dutta
    • 1
  • Subir Kumar Debnath
    • 1
  • Subir Kumar Das
    • 1
    • 2
    Email author
  1. 1.Department of Production EngineeringJadavpur UniversityKolkataIndia
  2. 2.Department of Computer ApplicationAsansol Engineering CollegeAsansolIndia

Personalised recommendations