2D obstacle avoidance method for snake robot based on modified artificial potential field

Abstract

In order to study 2D obstacle avoidance method of the multi-joint and high redundancy snake robot, a method based on modified artificial potential field is proposed. By combining the advantages of the traditional artificial potential field method, such as simple calculation, fast operation and real-time obstacle avoidance, the correlation correction factor is introduced to solve the problem that snake robot cannot reach the target; the temporary guide point is inserted to solve the local stability problem of snake robot. Through the modified artificial potential field method, the 2D obstacle avoidance method of snake robot with winding gait is studied. Realizing this obstacle avoidance method by MATLAB, the simulation results show that the method can effectively make snake robot avoid the obstacles in 2D space and achieve the target point.