A method for multi-snake-like robot formation control and cooperative obstacle avoidance

Snake-like robots are multi-degree-of-freedom, multi-mode unmanned intelligent robots suitable for complex and hazardous environments and research fields. The coordination of multiple snake-like robots expands their capabilities and spatial range for tasks. The paper introduces a method for controlling and coordinating multiple snake-like robots in formation and obstacle avoidance. Multiple snake-like robots are organized into a formation and move forward in a specific configuration or layout, while also coordinating to avoid obstacles. The leader-follower model is utilized for formation control, allowing the robot group to switch to suitable formation configurations based on different scenarios encountered, thereby enhancing the adaptability of the formation. In the context of cooperative obstacle avoidance, the artificial potential field method is employed. It creates repulsive potential fields between snake-like robots and obstacles or other robots, ensuring that the formation can effectively and stably navigate around obstacles while maintaining its overall structure.