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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)

Abstract

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.

Keywords

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

Notes

Acknowledgements

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.

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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

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