Autonomous Snake Robot with Serpentine type Navigation

摘要

Abstract Biological snakes can easily maneuver through complex and undulating terrains which gives the motivation to create a bio mimic robotic snake which can easily slither through narrow spaces and uneven surfaces unlike the wheeled or legged mechanisms that have terrain limitations for its maneuverability. Such robots can be used in rescue operations in earthquake areas where it can easily crawl, surveillance and maintenance of complex or dangerous structures like pipelines in nuclear power plants. In this paper we discuss the development of autonomous snake robot with serpentine type navigation. The paper discusses in detail about the design of the robot, mathematical modelling, and motion study in virtual environment using MATLAB. The paper also discusses the controlling of the robot using Arduino Nano. The aim of the project is to develop a bio mimic snake which can maneuver over any terrains.