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

^*Corresponding author for this work

Research output: Journal Publication › Article › peer-review

76 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

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Free 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

Access to Document

10.1109/LRA.2021.3097265

Cite this

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title = "An Efficient Follow-the-Leader Strategy for Continuum Robot Navigation and Coiling",

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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author = "Abdelkhalick Mohammad and Matteo Russo and Yihua Fang and Xin Dong and Dragos Axinte and James Kell",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.",

year = "2021",

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doi = "10.1109/LRA.2021.3097265",

language = "English",

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AU - Russo, Matteo

AU - Fang, Yihua

AU - Dong, Xin

AU - Axinte, Dragos

AU - Kell, James

PY - 2021/10

Y1 - 2021/10

N2 - 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.

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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KW - collision avoidance

KW - motion and path planning

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M3 - Article

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EP - 7500

JO - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

IS - 4

M1 - 9484758

ER -

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

Abstract

UN SDGs

Free Keywords

ASJC Scopus subject areas

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