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 PublicationArticlepeer-review

25 Citations (Scopus)


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 languageEnglish
Article number9484758
Pages (from-to)7493-7500
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number4
Publication statusPublished - Oct 2021
Externally publishedYes


  • 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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