Snake-shaped robot design and path planning algorithm
Abstract Serpentine robots have broad application prospects in civilian, military, and other fields. However, recent developments in serpentine robot design, recent developments in snake-like robot design, mostly based on traditional algorithms, face several challenges in path planning and mapping....
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| Format: | Article |
| Language: | English |
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Springer
2025-08-01
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| Series: | Discover Computing |
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| Online Access: | https://doi.org/10.1007/s10791-025-09662-7 |
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| _version_ | 1849226023863844864 |
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| author | Zhao Guang-hui Cheng Wan-sheng |
| author_facet | Zhao Guang-hui Cheng Wan-sheng |
| author_sort | Zhao Guang-hui |
| collection | DOAJ |
| description | Abstract Serpentine robots have broad application prospects in civilian, military, and other fields. However, recent developments in serpentine robot design, recent developments in snake-like robot design, mostly based on traditional algorithms, face several challenges in path planning and mapping. This study focuses on the snaking gait characteristics and proposes an improved path planning algorithm integrated with the robot’s mechanical design. The algorithm’s effectiveness is validated through simulation analysis. A functional relationship between the Serpentine locomotion control parameters and the motion shape parameters is established, enabling Serpentine locomotion path planning on the map based on the improved algorithm. The rationality and effectiveness of the proposed algorithm are verified through both simulation analysis and experimental validation. Real-world experiments are conducted using the developed snake robot prototype, and the results are compared with simulation outcomes. The findings confirm the rationality and effectiveness of the winding gait generation and path planning for obstacle avoidance, as well as the consistency between simulation and physical experimental results. |
| format | Article |
| id | doaj-art-dd8a036aef2b4f6484c658e1174d5f89 |
| institution | Kabale University |
| issn | 2948-2992 |
| language | English |
| publishDate | 2025-08-01 |
| publisher | Springer |
| record_format | Article |
| series | Discover Computing |
| spelling | doaj-art-dd8a036aef2b4f6484c658e1174d5f892025-08-24T11:46:38ZengSpringerDiscover Computing2948-29922025-08-0128116010.1007/s10791-025-09662-7Snake-shaped robot design and path planning algorithmZhao Guang-hui0Cheng Wan-sheng1School of Electronic Engineering, University of Science and TechnologySchool of Electronic Engineering, University of Science and TechnologyAbstract Serpentine robots have broad application prospects in civilian, military, and other fields. However, recent developments in serpentine robot design, recent developments in snake-like robot design, mostly based on traditional algorithms, face several challenges in path planning and mapping. This study focuses on the snaking gait characteristics and proposes an improved path planning algorithm integrated with the robot’s mechanical design. The algorithm’s effectiveness is validated through simulation analysis. A functional relationship between the Serpentine locomotion control parameters and the motion shape parameters is established, enabling Serpentine locomotion path planning on the map based on the improved algorithm. The rationality and effectiveness of the proposed algorithm are verified through both simulation analysis and experimental validation. Real-world experiments are conducted using the developed snake robot prototype, and the results are compared with simulation outcomes. The findings confirm the rationality and effectiveness of the winding gait generation and path planning for obstacle avoidance, as well as the consistency between simulation and physical experimental results.https://doi.org/10.1007/s10791-025-09662-7Serpentine robotSerpentine locomotionPath planningJoint simulation |
| spellingShingle | Zhao Guang-hui Cheng Wan-sheng Snake-shaped robot design and path planning algorithm Discover Computing Serpentine robot Serpentine locomotion Path planning Joint simulation |
| title | Snake-shaped robot design and path planning algorithm |
| title_full | Snake-shaped robot design and path planning algorithm |
| title_fullStr | Snake-shaped robot design and path planning algorithm |
| title_full_unstemmed | Snake-shaped robot design and path planning algorithm |
| title_short | Snake-shaped robot design and path planning algorithm |
| title_sort | snake shaped robot design and path planning algorithm |
| topic | Serpentine robot Serpentine locomotion Path planning Joint simulation |
| url | https://doi.org/10.1007/s10791-025-09662-7 |
| work_keys_str_mv | AT zhaoguanghui snakeshapedrobotdesignandpathplanningalgorithm AT chengwansheng snakeshapedrobotdesignandpathplanningalgorithm |