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A Review on the Recent Development of Planar Snake Robot Control and Guidance

Author

Listed:
  • Ningwei Li

    (Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, China
    These authors contributed equally to this work.)

  • Fei Wang

    (School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen 518055, China
    These authors contributed equally to this work.)

  • Shanjun Ren

    (Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, China)

  • Xin Cheng

    (Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, China)

  • Gang Wang

    (Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, China)

  • Peng Li

    (School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen 518055, China)

Abstract

Snake robots, inspired by the biology of snakes, are bionic robots with multiple degrees of freedom and strong robustness. These robots represent a current area of significant research interest within the field of robotics. Snake robots have a wide range of applications in many fields, advancing the integration of bionics, robotics, and cybernetics, while playing a crucial role in performing survey and rescue missions. This survey presents the latest technological advancements in modeling, motion control, and guidance laws for planar snake robots, and provides a unified perspective based on the existing results. To achieve target-tracking control of robots in complex environments, we present a feasible approach that integrates guided vector field technology and transforms the target-tracking and obstacle avoidance problem into a reference angle tracking issue. Finally, this paper analyzes and summarizes the development process and key technologies of snake robot control and provides an outlook on future development trends.

Suggested Citation

  • Ningwei Li & Fei Wang & Shanjun Ren & Xin Cheng & Gang Wang & Peng Li, 2025. "A Review on the Recent Development of Planar Snake Robot Control and Guidance," Mathematics, MDPI, vol. 13(2), pages 1-21, January.
    • Handle: RePEc:gam:jmathe:v:13:y:2025:i:2:p:189-:d:1562726
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