An Efficient Follow-the-Leader Strategy for Continuum Robot Navigation and Coiling

Efficient path planning for hyper-redundant continuum and snake-like robots is a challenging task due to limited sensing capabilities, high computational loads, multiple possible solutions, non-linear models. This letter presents new approach snake robot navigation coiling, with an algorithm that enables online step-by-step position adjustment follow-the-leader strategy, significantly improving the performance of when compared previous methods. The proposed demonstrated on 16-degree-of-freedom inspection maintenance tasks in nuclear facilities.