A Review on the Recent Development of Planar Snake Robot Control and Guidance

被引：0
|
作者：
Li, Ningwei [1 ]
Wang, Fei [2 ]
Ren, Shanjun [1 ]
Cheng, Xin [1 ]
Wang, Gang [1 ]
Li, Peng [2 ]
机构：
[1] Univ Shanghai Sci & Technol, Inst Machine Intelligence, Shanghai 200093, Peoples R China
[2] Harbin Inst Technol Shenzhen, Sch Mech Engn & Automat, Shenzhen 518055, Peoples R China
来源：
MATHEMATICS | 2025年 / 13卷 / 02期
基金：
中国国家自然科学基金;
关键词：
snake robots; mathematical modeling; motion control; guidance law; 93-10; PATH-FOLLOWING CONTROL; SERPENTINE LOCOMOTION; TRACKING CONTROL; GAIT DESIGN; MODEL;
D O I：
10.3390/math13020189
中图分类号：
O1 [数学];
学科分类号：
0701 ; 070101 ;
摘要：
Snake robots, inspired by the biology of snakes, are bionic robots with multiple degrees of freedom and strong robustness. These robots represent a current area of significant research interest within the field of robotics. Snake robots have a wide range of applications in many fields, advancing the integration of bionics, robotics, and cybernetics, while playing a crucial role in performing survey and rescue missions. This survey presents the latest technological advancements in modeling, motion control, and guidance laws for planar snake robots, and provides a unified perspective based on the existing results. To achieve target-tracking control of robots in complex environments, we present a feasible approach that integrates guided vector field technology and transforms the target-tracking and obstacle avoidance problem into a reference angle tracking issue. Finally, this paper analyzes and summarizes the development process and key technologies of snake robot control and provides an outlook on future development trends.
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页数：21
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