Optimization strategies for task specific path-following capabilities of a binary actuated snake-like robot using follow-the-leader control

摘要

Snake-like robots allow to perform examination tasks of difficultly accessible areas. In this context a hyper-redundant shaft concept based on unique binary, electromagnetic tilting actuators was proposed earlier. Because of the electromagnetic actuation principle, the system provides good path following capabilities in combination with high resistance against manipulation forces. An efficient and intuitive path planning algorithm for those snake-like, serial chain robots is a follow-the-leader approach, as it is less complex and promises high accuracy at the same time. However, classical follow-the-leader approaches are designed for continuously actuated joints and their applicability to binary actuated systems is limited. Therefore, an adaption to binary actuation with optimized switching sequences to achieve an appropriate path following performance in spatial settings despite of the restricted motion is presented in this paper. Optimization strategies are outlined and different cost functions for different use cases, including the adherence to constrains, are evaluated.