Motion Planning of a Snake-Like Robot Using an Optimized Harmonic Potential Field

Samer Charifa; Marwan Bikdash

doi:10.2478/s13230-011-0005-9

Motion Planning of a Snake-Like Robot Using an Optimized Harmonic Potential Field

Research output: Contribution to journal › Article › peer-review

Abstract

Snake-like robots have gained popularity in the last three decades for their ability to utilize several gaits in order to navigate through different terrains. They are analogous in morphology to snakes, tentacles, and elephant trunks. We propose a novel method of navigating a snake-like robot based on the Harmonic Field with Optimized Boundary Conditions (HFOBC) and a boundary following algorithm. We apply the HFOBC navigation function using a number of fictitious charges equally spaced on each link. These charges actively follow the potential field towards the target. Futhermore, a generalized mathematical model for an n-link snake-like robot based on Lagrange formulation has also been proposed in this paper.

Original language	English
Pages (from-to)	187-197
Number of pages	11
Journal	Paladyn
Volume	1
Issue number	3
DOIs	https://doi.org/10.2478/s13230-011-0005-9
State	Published - Sep 1 2010
Externally published	Yes

Keywords

Harmonic Potential Field
Robotic Motion Planning
Snake-Like Robot

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10.2478/s13230-011-0005-9

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title = "Motion Planning of a Snake-Like Robot Using an Optimized Harmonic Potential Field",

abstract = "Snake-like robots have gained popularity in the last three decades for their ability to utilize several gaits in order to navigate through different terrains. They are analogous in morphology to snakes, tentacles, and elephant trunks. We propose a novel method of navigating a snake-like robot based on the Harmonic Field with Optimized Boundary Conditions (HFOBC) and a boundary following algorithm. We apply the HFOBC navigation function using a number of fictitious charges equally spaced on each link. These charges actively follow the potential field towards the target. Futhermore, a generalized mathematical model for an n-link snake-like robot based on Lagrange formulation has also been proposed in this paper.",

keywords = "Harmonic Potential Field, Robotic Motion Planning, Snake-Like Robot",

author = "Samer Charifa and Marwan Bikdash",

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year = "2010",

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doi = "10.2478/s13230-011-0005-9",

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T1 - Motion Planning of a Snake-Like Robot Using an Optimized Harmonic Potential Field

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AU - Bikdash, Marwan

N1 - Publisher Copyright: © Samer Charifa et al. 2010.

PY - 2010/9/1

Y1 - 2010/9/1

N2 - Snake-like robots have gained popularity in the last three decades for their ability to utilize several gaits in order to navigate through different terrains. They are analogous in morphology to snakes, tentacles, and elephant trunks. We propose a novel method of navigating a snake-like robot based on the Harmonic Field with Optimized Boundary Conditions (HFOBC) and a boundary following algorithm. We apply the HFOBC navigation function using a number of fictitious charges equally spaced on each link. These charges actively follow the potential field towards the target. Futhermore, a generalized mathematical model for an n-link snake-like robot based on Lagrange formulation has also been proposed in this paper.

AB - Snake-like robots have gained popularity in the last three decades for their ability to utilize several gaits in order to navigate through different terrains. They are analogous in morphology to snakes, tentacles, and elephant trunks. We propose a novel method of navigating a snake-like robot based on the Harmonic Field with Optimized Boundary Conditions (HFOBC) and a boundary following algorithm. We apply the HFOBC navigation function using a number of fictitious charges equally spaced on each link. These charges actively follow the potential field towards the target. Futhermore, a generalized mathematical model for an n-link snake-like robot based on Lagrange formulation has also been proposed in this paper.

KW - Harmonic Potential Field

KW - Robotic Motion Planning

KW - Snake-Like Robot

UR - https://www.scopus.com/pages/publications/85025456945

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DO - 10.2478/s13230-011-0005-9

M3 - Article

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VL - 1

SP - 187

EP - 197

JO - Paladyn

JF - Paladyn

IS - 3

ER -

Motion Planning of a Snake-Like Robot Using an Optimized Harmonic Potential Field

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Keywords

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