Abstract
Snake robot is a robot that can move freely in a small and complex space with super-redundant DOF and motion flexibility, and it has been proven to have a wide range of application prospects. RGB-D camera is a new type of visual sensor that can directly obtain color images and depth information. To enable the snake robot to work in some special task environments, we developed an orthogonal modular snake robot using RGB-D cameras, and conducted research on snake robot map building and path planning. An improved Batch Informed Tree (BIT*) algorithm is proposed. Finally, to verify the effectiveness of the proposed method, a corresponding experimental program is designed and related experimental analysis is carried out. The results show that our designed snake robot can complete the task of map building and path planning.
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This work is supported by China Postdoctoral Science Foundation funded project (2021T140159).
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Sun, Y., Wang, Q., Xue, Z., Liu, R., Liu, H. (2023). RGB-D Camera Based Map Building and Path Planning of Snake Robot. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14267. Springer, Singapore. https://doi.org/10.1007/978-981-99-6483-3_40
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DOI: https://doi.org/10.1007/978-981-99-6483-3_40
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