Faculty Publications


A numerical control algorithm for navigation of an operator-driven snake-like robot with 4WD-4WS segments.

SelectedWorks Author Profiles:

Leon Hardy

Document Type


Publication Date


Date Issued

January 2011

Date Available

December 2011


This paper presents a new algorithm for the control of a snake-like robot with passive joints and active wheels. Each segment has four autonomously driven and steered wheels. The algorithm approximates the ideal solution in which all wheels on a segment have the same centre of curvature with wheel speeds, providing cooperative redundancy. Each hitch point joining segments traverses the same path, which is determined by an operator, prescribing the path curvature and front hitch speed. The numerical algorithm developed in this paper is simulation tested against a previously derived analytical solution for a predetermined path. Further simulations are carried out to show the effects of changing curvature and front hitch speed on hitch path, wheel angles and wheel speeds for a one, two and three segment robot.


Abstract only. Full-text article is available only through licensed access provided by the publisher. Published in Robotica, 29(3), 471-482. doi: 10.1017/S0263574710000317 Members of the USF System may access the full-text of the article through the authenticated link provided.




Cambridge University Press