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Obstacle avoidance for a non-holonomic snake robot in a narrow space

In this paper, we propose a strategy of obstacle avoidance for a non-holonomic snake robot in a narrow space. In our strategy, the motion of the snake robot is restricted to a gliding curve and the curve is designed such that the snake robot does not come into contact with both obstacles and walls. To generate a desired gliding curve, we use some kind of serpenoid curve which is like a trace of natural snakes and tune its shape. By our strategy, the obstacle avoidance is simplified to designing the gliding curve in two-dimensional field. In this paper, we denote details of our strategy and demonstrate the effectiveness of our strategy by numerical simulations.