A Review on the Recent Development of Planar Snake Robot Control and Guidance
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...
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| Format: | Article |
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MDPI AG
2025-01-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/13/2/189 |
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| author | Ningwei Li Fei Wang Shanjun Ren Xin Cheng Gang Wang Peng Li |
| author_facet | Ningwei Li Fei Wang Shanjun Ren Xin Cheng Gang Wang Peng Li |
| author_sort | Ningwei Li |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-a08f2b23c6e54927b06aa104e26da2a1 |
| institution | Kabale University |
| issn | 2227-7390 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj-art-a08f2b23c6e54927b06aa104e26da2a12025-01-24T13:39:41ZengMDPI AGMathematics2227-73902025-01-0113218910.3390/math13020189A Review on the Recent Development of Planar Snake Robot Control and GuidanceNingwei Li0Fei Wang1Shanjun Ren2Xin Cheng3Gang Wang4Peng Li5Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, ChinaSchool of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen 518055, ChinaInstitute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, ChinaInstitute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, ChinaInstitute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, ChinaSchool of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen 518055, ChinaSnake 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.https://www.mdpi.com/2227-7390/13/2/189snake robotsmathematical modelingmotion controlguidance law |
| spellingShingle | Ningwei Li Fei Wang Shanjun Ren Xin Cheng Gang Wang Peng Li A Review on the Recent Development of Planar Snake Robot Control and Guidance Mathematics snake robots mathematical modeling motion control guidance law |
| title | A Review on the Recent Development of Planar Snake Robot Control and Guidance |
| title_full | A Review on the Recent Development of Planar Snake Robot Control and Guidance |
| title_fullStr | A Review on the Recent Development of Planar Snake Robot Control and Guidance |
| title_full_unstemmed | A Review on the Recent Development of Planar Snake Robot Control and Guidance |
| title_short | A Review on the Recent Development of Planar Snake Robot Control and Guidance |
| title_sort | review on the recent development of planar snake robot control and guidance |
| topic | snake robots mathematical modeling motion control guidance law |
| url | https://www.mdpi.com/2227-7390/13/2/189 |
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