An Efficient Follow-the-Leader Strategy for Continuum Robot Navigation and Coiling

Abdelkhalick Mohammad; Matteo Russo; Yihua Fang; Xin Dong; Dragos Axinte; James Kell

doi:10.1109/LRA.2021.3097265

An Efficient Follow-the-Leader Strategy for Continuum Robot Navigation and Coiling

Abdelkhalick Mohammad, Matteo Russo, Yihua Fang, Xin Dong, Dragos Axinte, James Kell

Research output: Journal Publication › Article › peer-review

25 Citations (Scopus)

Abstract

Efficient path planning for hyper-redundant continuum and snake-like robots is a challenging task due to limited sensing capabilities, high computational loads, multiple possible solutions, and non-linear models. This letter presents a new approach to snake robot navigation and coiling, with an algorithm that enables online step-by-step position adjustment with a follow-the-leader strategy, significantly improving the performance of the robot when compared to previous methods. The proposed algorithm is demonstrated on a 16-degree-of-freedom snake-like robot for inspection and maintenance tasks in nuclear facilities.

Original language	English
Article number	9484758
Pages (from-to)	7493-7500
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	6
Issue number	4
DOIs	https://doi.org/10.1109/LRA.2021.3097265
Publication status	Published - Oct 2021
Externally published	Yes

Keywords

Continuum robot, robotics in hazardous fields
coiling
collision avoidance
motion and path planning

ASJC Scopus subject areas

Control and Systems Engineering
Biomedical Engineering
Human-Computer Interaction
Mechanical Engineering
Computer Vision and Pattern Recognition
Computer Science Applications
Control and Optimization
Artificial Intelligence

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10.1109/LRA.2021.3097265

Cite this

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abstract = "Efficient path planning for hyper-redundant continuum and snake-like robots is a challenging task due to limited sensing capabilities, high computational loads, multiple possible solutions, and non-linear models. This letter presents a new approach to snake robot navigation and coiling, with an algorithm that enables online step-by-step position adjustment with a follow-the-leader strategy, significantly improving the performance of the robot when compared to previous methods. The proposed algorithm is demonstrated on a 16-degree-of-freedom snake-like robot for inspection and maintenance tasks in nuclear facilities.",

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AU - Axinte, Dragos

AU - Kell, James

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AB - Efficient path planning for hyper-redundant continuum and snake-like robots is a challenging task due to limited sensing capabilities, high computational loads, multiple possible solutions, and non-linear models. This letter presents a new approach to snake robot navigation and coiling, with an algorithm that enables online step-by-step position adjustment with a follow-the-leader strategy, significantly improving the performance of the robot when compared to previous methods. The proposed algorithm is demonstrated on a 16-degree-of-freedom snake-like robot for inspection and maintenance tasks in nuclear facilities.

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An Efficient Follow-the-Leader Strategy for Continuum Robot Navigation and Coiling

Abstract

Keywords

ASJC Scopus subject areas

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