Translated Titles

Development of a Snake-like Robot with Flexible Connectors and Optimal Path Planning for Obstacle Avoidance





Key Words

機器人 ; 蛇 ; 路徑規劃 ; 避障 ; Path planning ; Robot ; Snake ; Obstacle avoidance



Volume or Term/Year and Month of Publication


Academic Degree Category




Content Language


Chinese Abstract


English Abstract

The study develops a snake-like robot with a flexible body and also presents a novel approach to determine an optimal path for obstacle avoidance. The snake-like robot consists of five modular units. Each unit is driven by two stepper motors in a differential way and connected by springs or sponges. Ten microcontrollers are incorporated into the design of the robot and are primarily used for signal processing, motion coordination, control and communication. The purpose of path planning in the study is to find an optimal way from a starting position to a target point without a collision with obstacles. To simplify the planning process, we describe obstacles approximately by circles. Feasible collision-free paths are simply formed by lines tangent to the circles and arcs on the circles. A length comparison approach based on geometric relationship is developed to examine the length of paths and to reduce the searching space of feasible optimal paths. Consequently, the paths necessary to calculate their length for comparison with others could decrease dramatically. Furthermore, the study also proposes a windowing approach to decide the feasible velocity for the snake-like robot to move in accord from falling apart.

Topic Category 生物資源暨農學院 > 生物產業機電工程學研究所
生物農學 > 生物環境與多樣性
工程學 > 電機工程
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Times Cited
  1. 廖建偉(2010)。四節機器人之DSP控制系統設計。淡江大學機械與機電工程學系碩士班學位論文。2010。1-77。 
  2. 劉志原(2007)。四節機器人之控制器設計。淡江大學機械與機電工程學系碩士班學位論文。2007。1-66。 
  3. 廖培丞(2007)。DSP主控之四節機器人運動控制。淡江大學機械與機電工程學系碩士班學位論文。2007。1-96。 
  4. 張昱升(2005)。四節機器人之研究。淡江大學機械與機電工程學系碩士班學位論文。2005。1-87。 
  5. 吳宥儒(2015)。機器人管道內部運動、採樣與介面設計。中原大學電機工程研究所學位論文。2015。1-86。 
  6. 林彥誠(2004)。彈性體連結之機器蛇的研發與其最佳速度之規劃。臺灣大學生物產業機電工程學研究所學位論文。2004。1-111。