Path following of the rope-drive snake-like robot

摘要

As snake is one of the animals with the best obstacle performance in the nature, snake-like robot with the movement mechanism and behavioral pattern of a biological snake has broad application prospects. This paper designs a rope-drive snake-like robot driven by the friction of the rope instead of the traditional twisting forward movement pattern, the new drive mode can provide more power for the robot. Based on the follow the leader rule, this paper presents a new path following control method involving time delay in turn, and summarizes the movement pattern of the snake-like robot in theory, and then verifies the path following control method through simulation.