Dynamic optimization of snake robot with environment detection and analysis

摘要

Recent developments of snake robots have seen increasing interest in the aid of robotic systems to assist in disaster operations. This paper presents a design of snake robot for dynamic optimization to maneuver in various environments. The robot makes utilization of the friction between the body of the robot and the environment to move in. The components of snake robot chassis fabricated using 3D printing. Environment parameters such as temperature and moisture can be used to analysis the hazardous scenario. Obstacle avoidance techniques were also incorporated. Such a model was also simulated using the V-REP to verify its movements capabilities and to compare with real-time operation. Zig-bee module were utilized to wirelessly control the snake robot in remote areas for search and rescue operations. This paper describes the dynamic optimization of snake robot and presents experimental results of the robot locomotion through various environments.